A motor control method for a crane

Abstract

The invention discloses a motor control method of a crane. A. The crane is provided with a data processing module. Assuming time k, the data processing module reads the detection value of the gravity sensor as u(k) and the output value is y 1 ;The motor first starts at the set initial speed V 0 running, the running speed increases exponentially every cycle until it reaches the threshold speed V T , and then run at the set acceleration until it reaches the set operating speed V F , where the set operating speed V F The determination steps of are: when the heavy object is suspended on the crane, the output value calculated by the data processing module is denoted as g 1 ; During the working process, the output value calculated by the data processing module is recorded as g 2 ; will g 2 with g 1 for comparison, if g 2 greater than g 1 , then control the motor to rotate forward, V F =β*(g 2 -g 1 ); if g 2 less than g 1 , then control the motor reverse, V F =β*(g 1 -g 2 ), where β is the set proportionality coefficient. Make the motor run more stable and safe.

Description

technical field [0001] The invention relates to a motor control method of a crane. Background technique [0002] With the rapid development of the logistics industry, cranes have replaced traditional manual handling as an important labor tool, greatly saving labor costs and time costs, and greatly improving work efficiency. Cranes are widely used in many occasions such as factory workshops and truck loading and unloading. In order to meet the rapid demand of modern production, cranes are gradually developing in the direction of intelligence, digitization and automation. The traditional crane relies on the manual control of the machine handle to realize the loading and unloading of goods, but in actual operation, the hoisted heavy objects are generally relatively large, and the height of the rise is relatively high, so it is difficult to operate through the handle. Reflects the importance of the suspension mode. [0003] In the suspension mode, use the hand to apply upward ...

AI Technical Summary

Problems solved by technology

[0004] In the suspension mode, the heavy object will shake when it is in the air, causing the value measured by the gravity sensor to not be the mass of the heavy object, but fluctuating back and forth constantly, resulting in system instability

When the heavy object starts to move up (down) from a static state, the weight will produce super (loss) weight, and the value read by the gravity sensor will suddenly become larger (smaller), thus moving in the opposite direction, going round and round, which will cause safety problems. Accidents, and at the same time accelerate the wear and tear of the machine

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