论述塔带机防碰撞施工的运动仿真.doc

论述塔带机防碰撞施工的运动仿真揽机的运动是沿三个坐标轴方向的复合运动。且运动速度快。两台揽机在大坝轴向的运动(速度绝对较慢，最高速度为025ms)，依据浇灌混凝土的需求可以穿过另外四个设备。大型修建施工设备防碰撞零碎的开发，关于一些大型施工现场的平安具有十分积极的作用，揽机本身有沿大坝轴线(Y轴)的全体运动，在浇灌混凝土时，挂在揽绳上的吊罐沿揽绳方向有最高达的横向运动同时还有沿高度方向的吊装混凝土的吊罐的高速上升、下降运动。经过初期的试运转表现良好。但是这套大型修建施工防碰撞预警零碎，依然局限于预警，如操作人员不能无效地配合预警停止操作，仍有能够呈现事故。要想不呈现人为要素的碰撞发作，对此套零碎停止改良，完成完全自动化是有必要的。LAN is the movement of the machine along the three axes direction of compound motion. And movement speed. Two shovel machine in dam axial movement (definitely slower speed, maximum speed of 0.25 m/s), according to the placing of concrete demand. Can through the four other devices. Large building construction equipment collision piecemeal development, peace about some large construction site has a very positive role, shovel machine itself along the dam axis (Y) of all the sports, when pouring concrete, hung on the pull cord hanging pot along the direction of pull rope up to lateral movement. At the same time and along the height direction of the hoisting bucket of concrete of the high speed movement of rise and fall. After initial commissioning. Good performance. But the collision warning bits and pieces, large building construction is still confined to the early warning, such as not invalid to cooperate early warning to stop operation, the operators still have to present the accident. To render human elements in collision attack, this set of bits and pieces to stop improvement, complete fully automatic is necessary. 右上角的设备为挪动塔机。该塔机在图示的轨迹方向可以全体挪动，但在任务进程中这种全体挪动不停止：在浇灌混凝土时挪动塔机起重臂可以在360度的范围内的任何地位任务。而且起重臂上吊装的混凝土的塔罐可随意下行下降吊装塔罐的小车在起重臂上可来回挪动。起重臂长约83m与起重臂相反方向的均衡臂长约28m。挪动塔机装置初始高度为100m，依据工程进度。可停止加高。In the top right corner of the device to move the tower crane. The trajectory direction of tower crane in graphic can all move, but in the process of task. All of this move does not stop: at the time of placing of concrete. Move tower crane jib can be 360 degrees in any position within the scope of the task. And lifting hoist boom of the concrete tower tank can be arbitrary downward fall. Hoisting tower tank car can move back and forth on the gibbet. Jib length of about 83 m. with the lift arm balance arm length of about 28 m in opposite directions. Move tower crane device initial height is 100 m, according to project schedule. Extensions can be stopped. 中挪动塔机上面的可转动360度的设备为固定塔机固定塔机只可以在圆周方向转动停止浇灌，不可挪动和降低。吊装塔罐的小车可在起重臂下去回运动。固定塔机基座较高，本身高度为192m。起重臂长83m。均衡臂长28m。Move in the tower crane can rotate 360 degrees of above equipment for fixed tower crane. The fixed tower crane can only in the circumferential direction to stop watering, do not move and reduced. Hoisting tower tank car in the lift arm down and back movement. Height is 192 m fixed tower crane base is higher, itself. Lifting beam is 83 m long. A balanced arm length 28 m. 紧挨固定塔机的处于图1中心地位的是顶带机。顶带机不同于挪动塔机和固定塔机它不只要起重臂战争衡臂。而且有皮带机。它的混凝土是由皮带机保送的。起重臂只是起吊起皮带机同时给皮带机转动提供动力。以及起重臂上小车的来回运动。使得皮带机可以在起重臂转过的羟丙基甲基纤维素中央浇灌混凝土。固定塔机的高度可以依据施工的需求降低。顶带机的起重臂长83m，均衡臂长28m。皮带机分外外皮带机，内皮带长55m。外皮带长50m。Close to the status of fixed tower crane is in the center of figure 1 is the top machine. Top machine is different from move fixed tower crane and tower crane. It is not as long as the lift arm war scale arm. And has a belt conveyor. The concrete is walked by belt conveyor. Hoist boom is just lifting peeling machine. At the same time for belt conveyor power rotation. And the car back and forth movement of the lift arm. Make the belt conveyor can be in the middle of the lift arm around placing of concrete. The height of the fixed tower crane can reduce according to the construction of demand. Top machine lifting beam is 83 m long, balanced arm length 28 m. My skin machine, belt conveyor belt within 55 m long. Outside belt 50 m long. 塔带机的任务状况根本和顶带机相反只是布置的地位不一样。从海吉布以及下面各设备的任务状况可以看出。各设备存在干预的能够。两台揽机与四台转动设备(指挪动塔机、固定塔机、顶带机、塔带机)之问，都存在干预；挪动塔机与固定塔机之间有起重臂与起重臂，起得臂与均衡的互相干预：挪动塔机与顶带机之间存在起重臂与起重臂的干预挪动塔机起重臂与顶带机的外带机的海基布干预：固定塔机起重臂与顶带机起重臂、固定塔机起重臂与顶带机外皮带机的干预：顶带机与塔带机起重臂之间、顶带机起重臂与外皮带机之间、塔带机起重臂与外皮带机之间都存在有干预景象。还有两台揽机与羟丙基甲基纤维素物料传送带的干预。普通来讲在大坝施工期问都有专门的指挥调度人员，但是遇到阴雨天气以及调度和操作人员留意力不集中时，这些设备就有能够互相之问发作碰撞，一旦真有碰撞发作，少则损坏设备重则机毁人亡。为了避免此类碰撞事故发作，施工单位急迫需求开收回一套防碰撞的预警零碎三、详细完成此防碰撞零碎的完成，需求思索以下几个方面的成绩，首先是设备运动数据的采集，对采到的数据停止初步处置。其次是对失掉的数据停止剖析计算。最初将计算失掉的后果经过警报的方式传给操作人员。DaDaiJi task of fundamental and top machine instead. Just decorate position is not the same. From figure 1, and the task status of equipment can be seen below. The equipment can intervention. Two shovel machine with four rotating equipment (refer to move fixed tower crane, tower crane, top machine and DaDaiJi) asked, there are interventions; Move between a fixed tower crane and tower crane boom and jib, got up arm and balanced each other intervention: move between tower and roof machine boom and jib intervention. Move tower crane jib and top machine machine outside intervention: fixed tower crane jib and the top machine fixed tower crane boom, boom and epidermal machine cap machine intervention: top machine with DaDaiJi jib, top machine between between boom and skin machine, DaDaiJi jib with skin machine exists between intervention. There are two LAN machine and material conveyor belts intervention. Asked for the ordinary. The dam during construction period. There are professional scheduling command, but in rainy weather. As well as scheduling and operators attention is not centralized, these devices will be able to ask of each other collision, once I have a collision attack, less damage to the equipment. Or machine apart. In order to avoid such crashes, and construction units back urgently needs one set of collision warning spare 3, detailed complete this collision fragmentary, needs to think the following aspects, first is the equipment movement data collection, the data mining to stop the preliminary treatment. Second is to stop losing data analysis calculation. First to pass the way of calculating the consequences of losing after the alarm to operators. 此外还有各运动设备运动仿真局部。上面对这个四个方面的完成办法作比拟详细阐明。There. Also the local sports equipment movement simulation. To complete the four aspects to compare detail to clarify. 一)运动数据的采集。由于揽机与各转动设备是运动的为计算各运动设备之间的间隔，必需晓得各运动件的详细坐标地位。空间定位零碎GPS是一种很好的测量运植物体坐标值的理想仪器。在揽机与各转动设备上思索装置七个GPS在皮带机上各装置一个测速传感器。由于挪动塔机是全体运动体其塔架的坐标值需求测出，可以在挪动塔机起重臂吊装混凝土的塔罐和挪动塔机均衡臂上各装置一个GPS，就既可以定出挪动塔机机身的坐标值，同时可以晓得塔罐和起重臂的地位。两个揽机在其运动着的吊罐上各安一个GPS。固定塔机、顶带机、塔带机三种转动设备，由于各自机身是绝对空中固定不动的只在它们的塔罐上各装置一个GPS就可以失掉相应需求晓得的数据。由于GPS只能失掉运动件的坐标值，且这些坐标值存在较大的误差采集到的坐标数据要停止拟合处置再传给上级接纳者。A) movement data collection. Because LAN is movement of the machine with the rotating equipment. For calculating the movement equipment, the interval between the detailed coordinate position must know all the moving parts. Space positioning pieces shipped GPS is a good measurement plant coordinate values of the ideal instrument. Thinking on LAN in each machine and equipment seven GPS device. A speed measuring sensor in every device of belt. Due to move the tower crane is the sports body. The tower to measure the coordinate values of demand, can be on the move of tower crane boom lifting concrete tower tank and move each tower crane balance arm a GPS device, it is to determine the coordinates of the move of tower body, at the same time can know the tower of hoist boom of cans and status. Take two machine on the motion of the bucket each Ann a GPS. Fixed tower crane, machine, DaDaiJi three rotating equipment, because their body is absolutely stationary in the air. All devices on their tower tank only a corresponding demand that GPS can lose data. Because GPS coordinate values can only be bereft of moving parts, and the coordinate values are larger error. To stop fitting disposing of the coordinates of the data collected. To the superiors in the again. 二)数据的剖析计算。对采集到的数据停止剖析计算是整个预警零碎完成的中心环节。从GPS过去的坐标值，要经过再一次的拟算计算以定出各运动件的运动失量速度。这里包括揽机的横向运动速度、揽机塔罐沿揽绳方向的运动速度、揽机塔罐上下方向的垂直运动速度，符转动设备起重臂的转动角速度、皮带机的运动速度、符运动件的运动减速度。将这些得出的速度和减速度，以及各设备本身正常制动减速度和紧急制动减速度，作为剖析计算的数据值。依据以后各运动件的运动形态，预测10秒之后的运动形态，再依据10秒之后的运动形态值计算各干预件的最小间隔，由失掉的最小间隔再判别能否满足报警条件。剖析计算所用流程图如附图2所示。2) data analysis computation. To stop analyzing the data collected is a central part of the early warning pieces to complete the calculation. From the GPS coordinate values in the past, should pass again to calculate calculate. To determine motion vector of each moving part. Listed here including sales machine of lateral movement speed, machine tower tank along the direction of the pull rope speed, shovel machine tower tank vertical from top to bottom in the direction of movement speed, rotational angular velocity of hoist boom of rotating equipment, belt machine movement speed, movement, a movement speed reduction. Will these come up with the speed and reducing speed, as well as the normal braking deceleration device itself and emergency braking deceleration, as analysis calculation of the data values. Basis after the movement pattern of each moving part predicted 10 seconds after the movement form, based on value of 10 seconds after the movement form again. Calculating minimum interval of each intervention, by losing the minimum interval. Then judging whether it can meet the alarm condition. Anatomy used calculation flow chart as shown in chart 2. 三)预警警报局部。开端时采集数据，再把采集到的数据停止剖析计算，得出的后果再传给预警零碎局部。预警局部用PLC来完成在每个需求预警的设备，在操作人员的操作台上装置一套警报指示灯安装。由控制器把剖析计算得出的后果转变成电信号，传给警报指示灯。剖析计算得出的后果有四个警报级别，辨别是正常、警示、正常制动，紧急制动，以不同的指示灯的颜色的变化，来确定是处于什么预警级别从而提示操作人员，能否用制动还是紧急制动或是正常状况以及处于预备制动(警示)中。普通状况下只需操作人员能在2秒钟的反响日子内，对警报作出相应的反响就不会呈现紧急制动状况。在这些施工设备中，尤其是转动设备，假如有紧急制动，对设备的损坏相当严重。没有警报指示，操作人员只能依据目测和经历这难免会有过失发作。依据警示灯的变化来操作运动设备，只需反响及时，完全可以防止碰撞事故发作。3) early warning and alarm. Start to collect the data, and then to stop analyzing the collected data calculation, draw the consequences and then to the early warning and spare parts. Warning local to co