Control device of ship crane

A technology of marine cranes and control devices, applied in the direction of transportation and packaging, load hanging components, etc., can solve the problems of reducing production efficiency, increasing work costs, etc., and achieve the effect of solving the problem of load swing, easy to implement, and simple and convenient in design

Inactive Publication Date: 2016-04-13
南京恒誉名翔科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the mechanical anti-swing, the operator needs to slow down or add reverse damping to reduce or even suppress the swing of the load, which will not only increase the working cost, but also reduce the production efficiency

Method used

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  • Control device of ship crane
  • Control device of ship crane
  • Control device of ship crane

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0013] combine figure 1 , figure 1 It is a structural diagram of the PLC-based marine crane control system of the present invention, which mainly includes: CPU module, communication module, digital input, digital output, analog input, and analog output. The digital input includes the state of the power distribution cabinet, Limit signal, the digital output includes start-stop control, fault alarm control, the analog input includes motor temperature, rotation angular acceleration, pitch angular acceleration, lifting speed, power distribution cabinet voltage, power distribution cabinet current, The analog quantity output includes the in-plane swing angle and the out-of-plane swing angle; the operation process of the marine crane is divided into a slewing operation process, a pitching operation process and a lifting operation process, and the marine crane operating mechanism includes a slewing operating mechanism, a pitching operating mechanism and an elevator mechanism ; In the...

Embodiment 2

[0015] figure 2 Physical model for a marine crane. In the physical model of a marine crane, the residual swing of the load can be expressed as the swing angle in the plane of the boom and the swing angle out of the plane of the boom . Let the mass of the load be m , the length of the boom is , the rope length is L , the plane of the boom and the horizontal axis of the marine crane (ie X axis) is the rotation angle , the plane of the boom and the vertical axis of the marine crane (ie Z axis) is the pitch angle , then the position of the boom tip in the inertial coordinate system is

[0016]

[0017] The position of the load in the inertial coordinate system is

[0018]

[0019] Substituting the above formula into the position of the load in the inertial coordinate system is

[0020]

[0021] In the formula Both change over time. When considering the length of the rope, Also changes over time.

Embodiment 3

[0023] image 3 The vector diagram of the bimodal EI shaper; using the vector diagram to combine the constraint equations, the parameters for solving the bimodal EI input shaper of the undamped system are

[0024]

[0025]

[0026] in, .

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PUM

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Abstract

The invention provides a PLC-based input-shaping-technology-based control device for a ship crane. According to the control device, a ship crane mathematical model is established based on a Lagrange's dynamical equation; and ZV, ZVD, ZVDD, and EI input shapers for the ship crane are designed through application of the input shaping technology to reduce or eliminate residual swing of a load. The control device for a ship crane takes PLC as a core and comprises digital output, digital input, analog input, analog output, and a communication module. The control device has a structural characteristic of open-loop input shapers, which can relatively solve the problem of load swing of a ship crane overall, and has beneficial effects of simple and convenient design, and easy implement.

Description

technical field [0001] The invention relates to a marine crane control device, in particular to a marine crane control device based on a PLC-based input shaping technology. Background technique [0002] With the continuous growth of energy demand, countries all over the world have intensified their efforts in ocean development, and the construction of ocean engineering is in the ascendant. Marine crane is an important tool in marine engineering. It is widely used in various marine projects such as shipbuilding, bridge construction, underwater rescue, and port construction. It has developed rapidly and has broad development prospects. However, due to the structure of the marine crane itself and the sea wind and waves, the marine crane will swing during the lifting process, which not only reduces the production efficiency, but also brings safety hazards to the staff. It can be seen that the anti-swing control of the marine crane is particularly important. In order to elimina...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/48
Inventor 李相武王瑛李忠喜
Owner 南京恒誉名翔科技有限公司
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