动臂式塔机运行状态监测与实时防护系统研究

【作者】 唐涛；

【导师】 肖友刚；

【作者基本信息】 中南大学 ， 载运工具运用工程， 2011， 硕士

【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更多还原

【Abstract】 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.更多还原