动臂式塔机运行状态监测与实时防护系统研究

发布时间：2019-02-28 08:22

【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
[Abstract]:Tower crane has been widely used in engineering construction. Due to improper operation and unclear line of sight, tower crane safety accidents occur from time to time, resulting in major economic and social losses. Aiming at the development of moving-arm tower crane operating condition monitoring and real-time protection system, the status monitoring technology, wireless communication technology and operation control technology of tower crane are deeply studied in this paper. By comparing the advantages and disadvantages of centralized control and distributed control, a hybrid control mode with the advantages of set distributed control and centralized control is proposed and adopted to ensure the real-time performance of the system. Using modular design method, the sensor module, data acquisition module, human-computer interaction module, wireless communication module, and central processing module are designed and integrated to monitor and control the running state of tower crane. An individual controller for real-time storage of illegal operations and overloaded data. Aiming at the anti-collision problem of tower crane, the anti-collision model of moving-arm tower crane is established by means of homogeneous transformation theory. Based on the idea of active anti-collision, this paper presents a set of anti-collision control algorithms which can prevent all kinds of collision conditions of the moving arm tower crane. The unified anti-collision decision of the tower crane in the region is realized in the same coordinate system. In order to exchange real-time information between individual controller and monitoring center, a wireless network with star topology is designed. In this way, queue polling algorithm, loop call query, control and wait are used to ensure the stability and real-time performance of data communication between half-duplex radio stations. Based on the above research results, a real-time monitoring and real-time protection system for moving-arm tower crane is developed, which integrates perception, analysis, reasoning and control. The field test shows that the system is stable and reliable, and can monitor the running state of tower crane in real time. Avoid accident risk and prevent tower crane safety accident
【学位授予单位】：中南大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH213.3

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