动臂式塔机运行状态监测与实时防护系统研究
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摘要
塔式起重机在工程施工中已得到广泛应用。由于操作不当及视线不清等原因,塔机安全事故时有发生,造成重大经济及社会损失。论文以研制动臂式塔机运行状态监测与实时防护系统为目标,对塔机的状态监测技术、无线通讯技术、运行控制技术进行了深入研究。
通过比较集中式控制与分布式控制的优劣,提出并采用集合分布式与集中式优点的混合式控制模式,保证了系统的实时性。
采用模块化设计方法,设计了传感器模块、数据采集模块、人机交互模块、无线通讯模块、中央处理模块,并集成为对塔机运行状态进行监测和控制、对违规操作及超限超载数据进行实时存贮的个体控制器。
针对塔机的防碰撞问题,采用齐次变换理论,建立动臂式塔机防碰模型。运用主动防碰思想,提出了一套可防止动臂塔机各种碰撞情况的防碰控制算法,在同一坐标系下实现了区域内塔机的统一防碰决策。
为交互个体控制器与监控中心之间的实时信息,设计了星型拓扑结构的无线组网方式。在该方式中,采用队列轮询算法,循环调用查询、控制及等待这三种通讯过程,保障了半双工无线电台数据通讯的稳定性与实时性。
综合以上研究成果,研制了融感知、分析、推理、控制于一体的动臂式塔机运行状态监测与实时防护系统,现场试验表明：该系统稳定可靠,能实时监测塔机运行状态,规避事故风险,防止塔机安全事故发生
Tower cranes are used widely in construction. However,crane accidents occur frequently as a results of the improper operation and the poor vision which caused significant economic and social losses.This paper takes the research of real-time condition monitoring and protection system for luffing jib cranes as the result,the technology of monitoring status, wireless communications and running control are researched in detail.
Based on centralized and distributed control, hybrid control is proposed and used in the system to guarantee the nature of real-time, which integrates the merits of distributed and centralized control into a whole.
Sensor module, data acquisition module, man-machine interactive module, wireless modules and the central processing module are designed by using modularization design method.And they are integrated to be an individual controller which can monitor and control the running status of tower cranes and can storage the unsafe operation and overrun overload data in real-time.
Aiming at the anti-collision problems of the tower cranes, it adopts homogeneous transformation theory and establishes the model for luffing jib cranes. By using active anti-collision idea, the paper puts forward the anti-collision control algorithm to prevent collision of luffing jib cranes, realizes the anti-collision decision of the tower cranes in the same coordinate system.
For the purpose of transmitting the real-time information between the individual controller and the monitoring center, this paper designs the star topology structure wireless network mode. In this manner, the author adopts queue polling algorithm, use circularly call and inquire, control and wait this three communication process, ensures the real-time and stability of the data communications of the half-duplex wireless radio.
Synthesize the afore-mentioned research achievements, the author develops the moving arm type tower cranes condition monitoring and real-time protection system that integrated the function of perception, analysis, reasoning and control, the industrial field test proves the stability and reliability of this system, which can real-time monitoring operation state and prevent potential risks.
通过比较集中式控制与分布式控制的优劣,提出并采用集合分布式与集中式优点的混合式控制模式,保证了系统的实时性。
采用模块化设计方法,设计了传感器模块、数据采集模块、人机交互模块、无线通讯模块、中央处理模块,并集成为对塔机运行状态进行监测和控制、对违规操作及超限超载数据进行实时存贮的个体控制器。
针对塔机的防碰撞问题,采用齐次变换理论,建立动臂式塔机防碰模型。运用主动防碰思想,提出了一套可防止动臂塔机各种碰撞情况的防碰控制算法,在同一坐标系下实现了区域内塔机的统一防碰决策。
为交互个体控制器与监控中心之间的实时信息,设计了星型拓扑结构的无线组网方式。在该方式中,采用队列轮询算法,循环调用查询、控制及等待这三种通讯过程,保障了半双工无线电台数据通讯的稳定性与实时性。
综合以上研究成果,研制了融感知、分析、推理、控制于一体的动臂式塔机运行状态监测与实时防护系统,现场试验表明：该系统稳定可靠,能实时监测塔机运行状态,规避事故风险,防止塔机安全事故发生
Tower cranes are used widely in construction. However,crane accidents occur frequently as a results of the improper operation and the poor vision which caused significant economic and social losses.This paper takes the research of real-time condition monitoring and protection system for luffing jib cranes as the result,the technology of monitoring status, wireless communications and running control are researched in detail.
Based on centralized and distributed control, hybrid control is proposed and used in the system to guarantee the nature of real-time, which integrates the merits of distributed and centralized control into a whole.
Sensor module, data acquisition module, man-machine interactive module, wireless modules and the central processing module are designed by using modularization design method.And they are integrated to be an individual controller which can monitor and control the running status of tower cranes and can storage the unsafe operation and overrun overload data in real-time.
Aiming at the anti-collision problems of the tower cranes, it adopts homogeneous transformation theory and establishes the model for luffing jib cranes. By using active anti-collision idea, the paper puts forward the anti-collision control algorithm to prevent collision of luffing jib cranes, realizes the anti-collision decision of the tower cranes in the same coordinate system.
For the purpose of transmitting the real-time information between the individual controller and the monitoring center, this paper designs the star topology structure wireless network mode. In this manner, the author adopts queue polling algorithm, use circularly call and inquire, control and wait this three communication process, ensures the real-time and stability of the data communications of the half-duplex wireless radio.
Synthesize the afore-mentioned research achievements, the author develops the moving arm type tower cranes condition monitoring and real-time protection system that integrated the function of perception, analysis, reasoning and control, the industrial field test proves the stability and reliability of this system, which can real-time monitoring operation state and prevent potential risks.
引文
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[2]B. Jerman, P. Podrzaj, J. Kramar. An investigation of slewing-crane dynamics duringslewing motion-development and veri&cation of a mathematical model. International Journal of Mechanical Sciences,2004,46 (2004):729～750
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[10]杨清泉,刘春林.塔机防碰撞及工作区域限制技术.设计制造,2004,7：78-85
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[13]谢小光.基于GPRS的塔机实时状态远程监控系统研究：[硕士学位论文].杭州：浙江工业大学,2009
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[15]Sungwoo Moon, Leonhard E. Bernold, Graphic-based human-machine interface for contruction manipulation control. Journal of Construction Engineering and Management,1998, (7):305～311.
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[17]Vasileios Pappas, Dinesh Verma. A circulatory system approach for wireless sensor networks. Ad Hoc Networks,2008,7:706～724
[18]储著宇,巫世晶,张雷,等.“黑匣子”技术在起重机力矩限制器中的应用.制冷空调与电力机械,2005,26(5)：75-77
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[26]王东,张金荣,魏延,等.利用ZigBee技术构建无线传感器网络.重庆大学学报(自然科学版),2006,29(8)：95-97
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[28]中华人民共和国国家质量监督检验检疫总局.GB/T 5031-2008.中国国家标准化管理委员会.北京：中国标准出版社,2008-08-07
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[2]B. Jerman, P. Podrzaj, J. Kramar. An investigation of slewing-crane dynamics duringslewing motion-development and veri&cation of a mathematical model. International Journal of Mechanical Sciences,2004,46 (2004):729～750
[3]冯强.基于平头塔式起重机起重臂动态性能的多目标优化：[硕士学位论文],成都：西南交通大学,2008
[4]C.John. Smith. Quality is key to safty. CraneSToday,1998,3:26～28
[5]马松龄.塔式起重机运行状态监控系统研究：[硕士学位论文].西安：西安建筑科技大学,2005
[6]雷鹏.基于无线网络的塔式起重机运行状态监测系统的研究与设计：[硕士学位论文].西安：西安建筑科技大学,2008
[7]钦佩.塔机安全作业远程数字监控系统.建筑机械技术与管理,2009,22(8)：94-96
[8]宋玉环,毛居双.塔式起重机倒塔事故的分析与预防.建筑机械化,2010(02)：84-85
[9]张兵.基于ARM的塔式起重机智能监测与防护系统研究：[硕士学位论文].长沙：中南大学,2010
[10]杨清泉,刘春林.塔机防碰撞及工作区域限制技术.设计制造,2004,7：78-85
[11]LIEBHERR. The Litronic crane control system. Journal of Construction Engineering and Management,1997, (10):124～128
[12]贾永峰.塔式起重机多源信息监控系统研究：[硕士学位论文].西安：西安建筑科技大学,2005
[13]谢小光.基于GPRS的塔机实时状态远程监控系统研究：[硕士学位论文].杭州：浙江工业大学,2009
[14]臧大进,戚玉强.塔式起重机智能监控系统的研制.冶金设备,2009,2(1)：50-53
[15]Sungwoo Moon, Leonhard E. Bernold, Graphic-based human-machine interface for contruction manipulation control. Journal of Construction Engineering and Management,1998, (7):305～311.
[16]AKYILDIZ I F, SU W, SANKARASUBRAMANIAM Y, et al. Wireless sensor network:A survey. Computer Networks,2002,38(4):393～422
[17]Vasileios Pappas, Dinesh Verma. A circulatory system approach for wireless sensor networks. Ad Hoc Networks,2008,7:706～724
[18]储著宇,巫世晶,张雷,等.“黑匣子”技术在起重机力矩限制器中的应用.制冷空调与电力机械,2005,26(5)：75-77
[19]朱军辉.基于CAN总线的塔吊防碰撞系统研究：[硕士学位论文].西安：西安理工大学,2008
[20]Yi, Jianqiang. Anti-swing fuzzy control of overhead traveling crane. IEEE International Conference on Plasma Science,2002.
[21]王保路.塔机防互撞及区域保护系统.建筑机械,2001,8(1)：44-45
[22]韩九强,赵玮,魏全瑞,等.建筑塔吊群智能防碰撞系统.建筑安全,2008,2：12-14
[23]李娜.基于ZigBee的无线传感器网络在工业监测中的应用：[硕士学位论文].西安：长安大学,2009
[24]郑夕健,宋争艳,谢正义,等.基于ZigBee的塔机群控无线通信系统实验研究.机械工程与自动化,2010,10(5)：1-3
[25]原羿,苏鸿根.基于ZigBee技术的无线网络应用研究.计算机应用与软件,2004,24(6)：89-91
[26]王东,张金荣,魏延,等.利用ZigBee技术构建无线传感器网络.重庆大学学报(自然科学版),2006,29(8)：95-97
[27]MANJESHWAR A, AGRAWAL DP.TEEN:A routing protocol for enhanced efficiency in wireless sensor networks.San Francisco:IEEE Computer Socitey,2001
[28]中华人民共和国国家质量监督检验检疫总局.GB/T 5031-2008.中国国家标准化管理委员会.北京：中国标准出版社,2008-08-07
[1]M. P. Weiss, R. Ashkenazi and D. Elata. A UNIFIED FATIGUE AND FRACTURE MODEL APPLIED TO STEEL WIRE ROPES. Fatigue and fracture,2T5:237～238
[2]于良.塔式起重机整机结构分析及优化设计：[硕十学位论文].沈阳：东北大学,2008
[3]R. Mi jailovic, G. Kastratovic. Cross-section optimization of tower crane lattice boom. Meccanica,2009,44:599～611
[4]Lanfeng Yu. Calculation method and control value of static stiffness of tower crane. Journal of Mechanical Science and Technology,22 (2008) 829～834
[5]R.SELMIC, P.CVETKOVIC, R. MIJAILOVIC, et al. Optimum Dimensions of Triangular Cross-Section in Lattice Structures. Meccanica,2006,41:391～ 406
[6]陈启旺.浅析MD900型塔式起重机技术与管理.机电信息,2009(36)：77-79
[7]陈红静,陈进,李甦.塔式起重机液压回转机构的研究.设计研究,2010(02)：58-60
[36]贾永峰,谷立臣.基于上位机的塔机监控方案设计.建筑机械,2009,5(1)：91-94
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