Spreader anti-sway controlling method of overhead traveling crane

Abstract

The invention relates to a spreader anti-sway controlling method of an overhead traveling crane. The spreader has 5 measuring parameters: a trolley position of a supporting spreader, a spreader cable length, a spreader cable swing angle, a trolley speed, and a spreader elevation speed. The 5 measuring parameters are respectively measured by 2 absolute encoders, a video camera system, and an incremental encoder. The trolley speed and the spreader elevation speed serve as input signals and act upon an AC servo motor driven by the trolley and the spreader through a frequency converter, such that the entire spreader system can work harmonically. A controlling strategy and the treatment upon the collected signals are realized by a whole PLC processor. A controlling method and a controlling strategy are provided. With the video camera system, through spreader real-time monitoring, spreader swing angle which is the position and the cable length are obtained. Trolley position information and cable length information are obtained by using the encoders. The signals are read by using the absolute encoders. Feedback signals are acquired by the incremental encoder. The controlling method provide by the invention has the advantages of higher controlling precision and higher data processing speed.

Description

technical field [0001] The invention relates to an anti-sway control method for a spreader of a bridge crane. Background technique [0002] With the development of social economy, the "anti-sway" control methods of bridge cranes have gone through manual methods, mechanical separation trolley methods, multi-functional hydraulic methods, electronic methods with spreader angle monitoring sensors, etc. Most of them are due to peripheral Too much equipment, high cost, complex structure, poor reliability, inconvenient maintenance, heavy maintenance workload and high price have been phased out. [0003] With the rapid development of social economy, the cost of labor is getting higher and higher, and the cargo throughput has increased sharply. The trolleys used by bridge-type grab ship unloaders and shore container cranes in various ports have a speed of 240m / min and a lifting rating of 240m / min. The load is 60 tons, the lifting speed is 60m / min~80m / min, and the outreach reaches 55...

AI Technical Summary

Problems solved by technology

[0002] With the development of social economy, the "anti-sway" control methods of bridge cranes have gone through manual methods, mechanical separation trolley methods, multi-functional hydraulic methods, electronic methods with spreader angle monitoring sensors, etc. Most of them are due to peripheral Too much equipment, high cost, complex structure, poor reliability, inconvenient maintenance, heavy maintenance workload and high price, have been phased out

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