Anti-shaking control method for container shore bridge hanger

Abstract

The invention discloses an anti-shaking control method for a container shore bridge hanger. When the hanger is lifted, an anti-shaking controller acquires parameters of trolley speed, trolley position, hanger lifting speed, hanger swing length and hanger swing angle acquired by corresponding sensors and converted in real time, and the anti-shaking controller compares the swing angle of the hangerwith a preset value and performs the following anti-shaking control when the swing angle is greater than the preset value: the anti-shaking controller selects a control model and a swing length representative value corresponding to a judgment interval according to the judgment interval of the hanger swing length or the swing length variation, and the anti-shaking controller calculates the trolleyspeed regulating parameter according to the swing length representative value and the real-time acquired hanger swing angle parameter under the selected control model and then provides a speed regulating signal for a trolley travelling controller to perform trolley acceleration so as to inhibit the swing angle of the hanger to realize anti-shaking control.

Description

Technical field: [0001] The invention relates to the technical field of container quay cranes in industrial control, in particular to an anti-sway control system for container quay cranes. Background technique: [0002] In recent years, with the rapid development of worldwide trade, the scale of cargo transportation has grown enormously. Cranes play a very important role in many logistics operations, such as lifting and handling of goods. When the container crane is loading and unloading cargo, due to the dynamic characteristics of the system (such as the acceleration and deceleration of the trolley) and the influence of external interference factors, the flexible wire rope is extremely difficult to control, causing the spreader and its container to swing back and forth. Work efficiency is high, and collisions are prone to occur, so effective methods must be adopted to reduce or stop the swing in time. At present, the anti-sway control of container quay cranes mostly adopt...

AI Technical Summary

Problems solved by technology

[0004] The problem with the electronic anti-sway control method in the prior art is that the swing length change during the operation of the spreader has a great influence on the anti-sway control

like image 3 As shown, during the running of the spreader from point A to point F, the section between point B and point F is the main anti-sway control section, and the length of the steel wire of the spreader from point C to point D is the swing length of the spreader. Variable, the pendulum length of the spreader from point B to C and point D to E is a variable, because the pendulum length of the spreader is directly related to the swing period of the single pendulum movement of the spreader, so the pendulum length will affect the acceleration calculated by the control system time, the pendulum length in the prior art can be obtained through the pulse digital encoder connected to the drive shaft to obtain signals such as the trolley walking position and lifting position, and calculate the real-time pendulum length of the spreader and substitute it into the trolley-spreader mathematical model for calculation. Or use the mathematical model of the trolley-spreader based on the fixed pendulum length for calculation. In practical applications, the above two methods often cause frequent adjustments of the trolley speed due to model mismatch, and too frequent adjustment of the trolley speed reduces the operating comfort of the operator. sex

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