Crane anti-swing control system capable of improving loading and unloading stability

Abstract

The invention discloses a crane anti-swing control system capable of improving loading and unloading stability. The crane anti-swing control system capable of improving the loading and unloading stability involves a programmable controller, various mechanism frequency converters and a lifting encoder, wherein all parts are networked by using an EtherNet / IP communication protocol, and operation parameters of a cart mechanism and a trolley mechanism are obtained by obtaining lifting of a bridge crane; the output frequencies of the frequency converters are adjusted in real time to change operation states according to the actual height of load to match the operation parameters of the cart mechanism and the trolley mechanism when the operation mechanism is started and stopped, and the speed curve of the operation mechanism is adjusted in real time according to the calculated load swing parameters. According to the crane anti-swing control system capable of improving the loading and unloading stability, a advanced anti-swing algorithm is adopted, the swing period is measured and calculated according to the simple swing principle, swing estimation is carried out at an initial accelerationand deceleration stage, hanging object swing control is carried out at the middle section and the tail section to achieve the effect of shortening the processing time, the effect of shortening the stopping distance is achieved by adjusting the anti-swing curve and rigidity, compared with a traditional electronic anti-swing system, the system has remarkable advantages in the aspect of shortening the stopping sliding distance of the operation mechanism.

Description

technical field [0001] The invention relates to the field of hoisting and transportation equipment, in particular to a crane anti-sway control system that improves the stability of loading and unloading. Background technique [0002] With the development of economic and trade globalization, the transportation industry has grown rapidly, and the objects to be transported have increased accordingly. The cranes have become larger, and the running speed of the crane trolley and the lifting height of large objects have also increased accordingly. As the length of the suspension wire rope increases, the speed of the wire rope in the vertical and horizontal directions increases, the driver's sight distance continues to increase, and the operation with the hook becomes more and more difficult. More and more time is spent on docking of tools and objects, lifting objects and chassis vehicles, AGV trolleys, yards or cabins), which greatly affects production efficiency and loading and u...

AI Technical Summary

Problems solved by technology

The traditional electronic anti-sway can usually effectively control the swing, but the port is often affected by wind and waves, and the conventional PD control is often difficult to work. In practical applications, the speed of the trolley is often adjusted too frequently. The function of the electronic anti-sway system, after reaching the target position, it shakes back and forth, causing the driver to feel uncomfortable

[0005] Bridge crane is an important tool and equipment in modern industrial manufacturing and logistics transportation. However, when the crane is loading and unloading goods, due to the speed change of the cart and / or trolley and the influence of external interference factors, the hook will produce back and forth, left and right Swing, while affecting production efficiency, has caused certain safety hazards. Therefore, it is very meaningful to develop a crane anti-sway technology that can realize the smooth loading, unloading, lifting and lifting of the crane.

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