Anti-swing and anti-collision control system and control method for lifting load of whirley crane

Abstract

The invention discloses an anti-swing and anti-collision control system and control method for the lifting load of a whirley crane. The system comprises a coordination control module, a lifting control module, a lifting load anti-swing control module, a trajectory optimization control module, a PROFIBUS, a drive mechanism, a first detection mechanism, a second detection mechanism and a third detection mechanism. The coordination control module, the lifting control module, the lifting load anti-swing control module and the trajectory optimization control module are all connected with the PROFIBUS. One end of the drive mechanism is connected with the PROFIBUS, and the other end of the drive mechanism is connected with a crane entity. Drive information is sent to the drive mechanism after the coordination control module, the lifting control module, the lifting load anti-swing control module and the trajectory optimization control module coordinate, and the drive mechanism drives the whirley crane entity to work. Information of the drive mechanism and information of the operation states of the crane are detected by the three detection mechanisms and fed back to the corresponding control modules, and three kinds of closed-loop control are formed. The anti-swing and anti-collision functions in the lifting load operation process are achieved well.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a control system and control method for hoisting, anti-swing and anti-collision of a rotary crane. Background technique [0002] Slewing crane is a kind of commonly used construction machinery. It is generally composed of four major operating mechanisms of pitching, slewing, lifting and walking, as well as columns, booms and cabs. The specified movement of the four major mechanisms of the walking mechanism, and the lifting and transporting of the goods are realized by means of the shrinkage of the wire rope. Due to the driving action of the slewing, pitching and lifting mechanisms in the working process, the hoisting weight suspended at the lower end of the wire rope will not stand still immediately after reaching the target position but will swing. Such swing phenomenon not only affects the normal operation of hoisting and transporting, but also poses a safety threat to sur...

AI Technical Summary

Problems solved by technology

However, this anti-swing control method has a blind area in the measurement of the position of the steel wire rope, the reliability of the anti-swing is poor, the work efficiency is also low, and there is no function of trajectory optimization control.

[0006] The application number is 200810225150.5, and the invention patent titled "rotary crane trajectory optimization control system and its control method" proposes a method to convert the natural space coordinate motion trajectory information of the hoist into pre-designed coordinate information of the hoist. The control command of the optimization control module realizes the operation of a specific lifting trajectory; however, although this patent proposes a trajectory optimization control method, it only controls the lifting trajectory through simple constraints, and at the same time, it lacks the control of the lifting trajectory during the operation process. The anti-swing control function of the hoist is only to limit the speed of the crane to achieve a slight swing after the hoist reaches the target position, which lacks efficiency

Images