CN101024471B - Bridge-type crane control apparatus with rocking-prevention function - Google Patents
Bridge-type crane control apparatus with rocking-prevention function Download PDFInfo
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Abstract
The invention discloses a bridge hoisting control device that has shaking-proof effect. It includes speed giving signal generator, speed adjusting unit and motor, time lag filter that receives the primary value of speed giving signal and transforms into filtered speed giving signal that has shaking-proof effect, and sends to speed adjusting unit. The invention realizes the shaking proof effect for bridge hoist.
Description
Technical field
The present invention relates to the overhead traveling crane machine technology, specifically, relate to a kind of bridge-type crane control apparatus with rocking-prevention function.
Background technology
In the harbour of industry spot, factory building, warehouse etc., crane in bridge type is used for transmission, scheduling heavy goods widely.Bridge-type grab ship unloader, shore container crane, driving etc. all belong to the category of crane in bridge type.
With the driving is example, and Fig. 1 is the basic composition scheme drawing of driving.Can know that by Fig. 1 the movable parts of driving mainly comprises three parts: cart 101, dolly 102 and be connected dolly 102 and load 104 between steel cable 103.Wherein, cart 101 can seesaw along the cart guide rail; Said dolly 102 can be made the sway perpendicular to cart 101 service directions along the vehicle guide on the cart 101; Said steel cable 103 is fixed in the control of the mechanism of twisting rope on the dolly, can promote or down maneuver the moving up and down of drive load 104.Through the motion of above-mentioned cart 101, dolly 102, steel cable 103, driving has realized the control to the three-dimensional position of load 104, realizes weight moving freely on three-dimensional position.
In the operational process of crane in bridge type, during owing to steel cable 103 lifting loads 104, belong to flexible connection, when crane in bridge type was done vertically perhaps horizontal motion, load 104 can oscillate.Location difficulty when this swing makes the goods handling, operating efficiency is low; And, may cause the production safety problem when waving when serious, break etc. like personal injury or equipment.For this reason, in the operating process of crane in bridge type, should reduce waving of load as far as possible.
The method that traditional control load waves is to carry out manual regulation by the driver through experience, for example, when finding that hunting of load is excessive, the running velocity through reducing crane in bridge type or follow the hook operation, the swing of reduction load.But this mode needs the crane in bridge type driver to have rich experience, and deviation occurs easily, causes the production safety problem.
Also adopted some mechanical systems to realize preventing shaking control in the prior art, these modes have increased the complexity of crane in bridge type structure, cause cost to rise.What is more important, the mechanical mechanism easy abrasion need constantly maintain and safeguard.The working environment of crane in bridge type is special, and these safeguard complex operations such as generally needing aloft work, realizes difficulty.
Summary of the invention
To above-mentioned defective; The technical matters that the present invention solves is that a kind of bridge-type crane control apparatus with rocking-prevention function is provided, and this device is when controlling crane in bridge type; Realize control simultaneously, avoid the crane in bridge type hunting of load excessive its swing.Thereby the minimizing possibility of accident occurrence, and shorten the time that load is transported to assigned address, improve operating efficiency, reduce maintenance cost.
Bridge-type crane control apparatus with rocking-prevention function provided by the invention comprises velocity setting signal generator, speed governing unit; Said velocity setting signal generator is used to produce velocity setting signal initial value; Said speed governing unit is used for providing driving torque to arrive drive motor according to the velocity setting signal that receives; Also comprise time delay filter; This time delay filter receives the velocity setting signal initial value that said velocity setting signal generator sends; And this velocity setting signal initial value filtering formed have velocity setting signal after the anti-filtering of shaking effect, offer said speed governing unit.
Preferably, said time delay filter is zero vibration time delay filter, and the pulse amplitude of its time lag filter and time location are:
t
1＝0，t
2＝ΔT
Wherein, A
1Be t
1The time pulse amplitude; A
2Be t
2The time pulse amplitude; ω is the system oscillation frequency of crane in bridge type; ξ is the system damping of crane in bridge type.
Preferably, also comprise hoisting speed detecting unit, the long detecting unit of load rope, be used for detecting in real time the hoisting speed i and the long l of load rope of crane in bridge type; And use and detect the detected value that obtains in real time, calculate said system oscillation frequencies omega, system damping ξ according to following formula:
With the aforementioned calculation value, bring in pulse amplitude and the time location computing formula, obtain time change zero the vibrate time delay filter relevant with the state of kinematic motion of crane in bridge type.
Preferably, establishing described system damping ξ is 0, the formula that becomes zero vibration time delay filter when then described into:
A
1＝0.5，A
2＝0.5
t
1＝0，
Wherein, l
kLong for detecting the rope that obtains in real time.
Preferably, said time delay filter adopts Programmable Logic Controller to realize.
Preferably, said time delay filter is by adopting and Programmable Logic Controller bonded assembly Implementation of Embedded System; Said Programmable Logic Controller receives said velocity setting signal initial value as the control center of crane in bridge type, and this signal is passed to said embedded system; Said embedded system is delivered to said Programmable Logic Controller with the result after carrying out the time lag filter processing in view of the above; Said Programmable Logic Controller passes to said speed governing unit with this velocity setting signal after the filtering that time lag filter is handled.
Preferably, described velocity setting signal is sent by the crane in bridge type control handle.
Preferably, this device is provided with to be prevented shaking switch, is used for switching whether need use the electronic anti-swinging function.
Preferably, said time delay filter can also be zero vibration and differential time delay filter.
Preferably, said time delay filter can also be zero vibration and two differential time delay filter.
Bridge-type crane control apparatus with rocking-prevention function provided by the invention compared with prior art has the better anti-effect of shaking.
At first; Compare with the bridge-type crane control apparatus that does not generally have rocking-prevention function; This device is owing to handle the velocity setting signal initial value employing time delay filter of crane in bridge type; Acquisition has velocity setting signal after the anti-filtering of shaking effect, has realized the operating anti-effect of shaking of crane in bridge type.
Above-mentioned anti-to shake obtaining of effect be that appropriate design through time delay filter realizes, mainly is the choose reasonable to the time delay filter parameter.Said time delay filter can adopt various ways, for example, and zero vibration time delay filter, zero vibration and differential time delay filter, zero vibration and two differential time delay filter.But the time span of some time delay filter is longer, like zero vibration and two differential filter, can make the production time of crane in bridge type long.So the preferred embodiments of the present invention adopt zero short vibration time delay filter of time span, its parameter selects to adopt the initial oscillation of crane in bridge type load and initial damping to carry out.
When load is moved by lifting or decline, the actual oscillation frequency of crane in bridge type and damping will change, and for this reason, in further preferred embodiment of the present invention, become time delay filter when having taked.Become time delay filter when this on the basis of zero short vibration time delay filter of time span; Real-time detected value according to the actual detected acquisition; Said time delay filter function is adjusted in the crane in bridge type system oscillation frequency and the system damping of calculating real-time, reaches the best anti-effect of shaking.
Because the employing of above-mentioned measure, the device that the embodiment of the invention provides need not to pay close attention to the anti-problem of shaking when the operator is operated, reduce operation easier.
Secondly, compare with adopting the anti-crane in bridge type that shakes of mechanical system realization, apparatus structure provided by the invention is simple, and is with low cost, low to the transformation difficulty of existing installation, has better application prospect.
Description of drawings
Fig. 1 is the basic structure scheme drawing of crane in bridge type;
Fig. 2 is the bridge-type crane control apparatus component units scheme drawing that the available technology adopting variable-frequency motor moves;
Fig. 3 is the component units scheme drawing that has the bridge-type crane control apparatus of rocking-prevention function in the first embodiment of the invention;
Fig. 4 is the principle of work scheme drawing of the simplest zero vibration time lag filter;
Fig. 5 is the bridge-type crane control apparatus component units scheme drawing with rocking-prevention function of fourth embodiment of the invention;
Fig. 6 is the component units scheme drawing of the bridge-type crane control apparatus with rocking-prevention function of fifth embodiment of the invention;
Fig. 7 is the scheme drawing of driving S. A. location;
Fig. 8 is the scheme drawing of driving self-orientation.
The specific embodiment
In the prior art, many crane in bridge type have adopted variable-frequency motor as dynamical element, drive.Fig. 2 illustrates the control setup component units scheme drawing of this kind crane in bridge type.
As shown in Figure 2, this crane in bridge type motion control unit provides the velocity setting signal by velocity setting signal generator 21.Said velocity setting signal generator 21 is generally controlled through control handle by the crane in bridge type driver.This velocity setting signal generator 21 produces corresponding velocity setting signal according to the steering and the gear of handle.This velocity setting signal is the square-wave signal with an amplitude and time width, and its amplitude is represented required velocity amplitude.This square-wave signal directly offers speed governing unit 22, and speed governing unit 22 is according to this velocity setting signal, after requiring to add the acceleration and deceleration time of the given setting of acceleration/accel in conjunction with self control, produces the velocity setting signal that crane in bridge type motor 23 is controlled.When said crane in bridge type motor 23 was ac variable-frequency electric motor, said speed governing unit 22 was generally frequency converter.Above control process is not owing to consider rocking-prevention function, and crane in bridge type is easy to occur significantly swing according to this controlled motion.
Please referring to Fig. 3, this illustrates the cell schematics of the bridge-type crane control apparatus with rocking-prevention function that first embodiment of the invention provides.
As shown in Figure 3, this bridge-type crane control apparatus comprises velocity setting signal generator 31, time delay filter 32, speed governing unit 33, crane in bridge type motor 34.
Said velocity setting signal generator 31 is controlled through control handle by the crane in bridge type driver.This velocity setting signal generator 31 is according to the steering and the gear of handle; Produce corresponding velocity setting signal; In order to distinguish mutually with the follow-up velocity setting signal of handling through time delay filter 32, the signal that this unit produces is called velocity setting signal initial value.This velocity setting signal initial value is the square-wave signal with an amplitude and time width, and its amplitude is represented required velocity amplitude.
Said time delay filter 32 receives said velocity setting signal initial value, and it is carried out time lag filter; Through behind the time lag filter, said velocity setting signal initial value is converted into have velocity setting signal after the anti-filtering of shaking effect, and exports velocity setting signal after this filtering.Fig. 3 illustrates that the acceleration/accel process of velocity setting signal is divided into two parts after this filtering, and the velocity setting signal with a steady state value between two parts is separated mutually.Like this; The vibration of the load that first order accelerator produces can be offset through the second stage accelerator of time-delay, therefore, and through the effect of above-mentioned time lag filter; Can avoid crane in bridge type the excessive amplitude of shaking to occur, and finally reach required speed through the classification acceleration, deceleration.
Said speed governing unit 33 receives velocity setting signal after the said filtering, according to this signal, and after combining self control to require to add the acceleration and deceleration time of the given setting of acceleration/accel, produces the velocity setting signal that crane in bridge type motor 34 is controlled.Finally offer the velocity setting signal of crane in bridge type motor 34 and be the positive rise of each step, the speed signal that falling edge all has certain slope.
The running under the control of the driving torque of speed governing unit 33 outputs of said crane in bridge type motor 34; Because this driving torque has been considered rocking-prevention function; Therefore, in the process that travels at the uniform speed of large and small car and when running abort, load can not take place significantly to wave.
Below specify the filtering principle of said time delay filter.
Please referring to Fig. 4, this illustrates the principle of work of the simplest zero vibration time lag filter.Can know that by this figure in fact zero vibration time delay filter produces two locational impulse singlas of different time, on the very first time position and second time location, has amplitude separately respectively.Above-mentioned two signals and velocity setting signal initial value carry out convolution algorithm, velocity setting signal after the acquisition filtering.Above-mentioned time lag filter process can be to have velocity setting signal after the filtering of step with the velocity setting signal transition of square wave form of input, and velocity setting signal after this filtering when making the crane in bridge type operation, can occur the classification acceleration mode owing to have step.In this classification accelerator, through the appropriate design of filter, the hunting of load that twice acceleration produced can be cancelled each other, thereby reaches rocking-prevention function.
Except using above-mentioned zero vibration time delay filter, can also use the time delay filter of forms such as zero vibration and differential filter, zero vibration and two differential filters to reach the anti-effect of shaking.But, though above-mentioned time delay filter can reach the good anti-effect of shaking, can make crane in bridge type reach the overlong time of required speed, therefore, adopting zero vibration time delay filter is preferable selection.
More than first embodiment the simplest way of realization of the present invention is provided.In fact, select, can reach better effect for the correlation parameter of said zero vibration time delay filter.
Second embodiment of the invention provides a kind of bridge-type crane control apparatus that adopts zero vibration time delay filter to realize rocking-prevention function equally; Its component units is identical with above-mentioned first embodiment; The difference part is that pulse amplitude that this time delay filter provides and time location are all selected according to the system oscillation frequency of crane in bridge type, the system damping of crane in bridge type.
Following formula is the pulse amplitude of the time delay filter employing during this second embodiment provides and the computing formula of time location.
t
1＝0，t
2＝ΔT
Wherein, A
1Be t
1The time pulse amplitude; A
2Be t
2The time pulse amplitude; ω is the system oscillation frequency of crane in bridge type; ξ is the system damping of crane in bridge type; t
1Be very first time position; t
2It is second time location.The system oscillation frequency of crane in bridge type and system damping can be calculated according to the initial oscillation and the damping of crane in bridge type load.
Adopt above-mentioned formula to calculate pulse amplitude and the time location that obtains, be used for said velocity setting signal generator 31 mouth velocity setting signal initial values are carried out filtering, just can obtain to have velocity setting signal after the filtering of preventing shaking effect.
Though more than time delay filter among second embodiment adopted the correlation parameter of crane in bridge type to carry out the calculating of correlation parameter in the time delay filter, do not consider the system oscillation frequency that crane in bridge type is in operation, the variation of system damping.In fact; System oscillation frequency, the system damping of crane in bridge type are relevant with the state of kinematic motion of crane in bridge type; In the crane in bridge type motion process, in the lifting or decline process of load, the corresponding change takes place in the system oscillation frequency of crane in bridge type, system damping meeting.Below the 3rd embodiment a kind of bridge-type crane control apparatus that adopts zero vibration time delay filter to realize rocking-prevention function is provided; Different with second embodiment; The zero vibration time delay filter that adopts among this embodiment becomes zero vibration time delay filter when being, the calculating of its amplitude and time location is according to the variation of the system oscillation frequency of crane in bridge type, system damping and variation at any time.
For a crane in bridge type system, the computing formula of its system oscillation frequency and system damping is following:
Wherein, i is a Bridge Crane speed, and l is that the load rope is long, and g is an acceleration due to gravity; Wherein, the long l of Bridge Crane speed i and load rope all uses real-time detected value to calculate.
Bring the aforementioned calculation formula into pulse amplitude and time location computing formula that time delay filter that second embodiment provides adopts, the pulse amplitude and the time location computing formula of acquisition present embodiment are following:
t
1＝0，
In the formula,
l
kFor at kT
sThe rope long value of on-line measurement constantly; i
kFor at kT
sThe hoisting speed value of on-line measurement constantly; T
sBe the sampling period.
Become the calculating of time delay filter when using aforesaid way to carry out; The bridge-type crane control apparatus of the realization rocking-prevention function that this 3rd embodiment provides; Have speed detection unit, the long detecting unit of load rope, be used to provide the hoisting speed of real-time detection and load rope long.In fact, the long detecting unit of described speed detection unit and load rope can adopt and be installed in the terminal coder of Bridge Crane electric machine main shaft and carry out rotating speed and position probing realization to what promote motor.This detection mode belongs to technology commonly used in the prior art, does not elaborate at this.
What need further specify is because the system damping ξ of crane in bridge type is very low, can it be made as 0; At this moment, the aforementioned calculation formula can be simplified as follows:
A
1＝0.5，A
2＝0.5
t
1＝0，
Wherein, l
kLong for detecting the rope that obtains in real time.Adopt above-mentioned formula, can computation process significantly be simplified, and the anti-effect of shaking changes little.
Above embodiment provides and has realized that the present invention has the basic composition structure of the bridge-type crane control apparatus of rocking-prevention function.Wherein, described time delay filter can have multiple concrete implementation.Below the 4th embodiment a kind of structure that adopts Programmable Logic Controller to realize time delay filter is described.
The employing Programmable Logic Controller that Fig. 5 illustrates the 4th embodiment to be provided is realized the bridge-type crane control apparatus cell schematics with rocking-prevention function of time delay filter.
As shown in Figure 5; After signals such as the sense of motion that the handle action produces, speed are received by said velocity setting signal generator 51; Produce corresponding velocity setting signal initial value; This initial value is sent to the Programmable Logic Controller 52 as crane in bridge type control center, has corresponding software in the Programmable Logic Controller 52, is used to realize the function of time delay filter.Programmable Logic Controller 52 receives said velocity setting signal initial value signal; After utilizing the software of the above-mentioned realization time delay filter function of its storage to carry out computing; The velocity setting signal output is controlled crane in bridge type motor 54 by speed governing unit 53 more in view of the above to speed governing unit 53 after obtaining filtering.
Above-mentioned employing Programmable Logic Controller is realized relatively simple to the method for velocity setting signal initial value time lag filter; All adopt the centring control element of Programmable Logic Controller in the particularly current general crane in bridge type, adopt the software in the Programmable Logic Controller to realize that the function of said time delay filter can not increase cost as crane in bridge type.
Although have the low advantage of cost; But; Adopt Programmable Logic Controller to realize that time delay filter might be owing to being influenced by the arithmetic capability of Programmable Logic Controller, and be unfavorable for further expanding and strengthening of function, for this reason; Below the 5th embodiment provide a kind of employing embedded system to cooperate with Programmable Logic Controller, realize the bridge-type crane control apparatus with rocking-prevention function of said time lag filter unit.
Please referring to Fig. 6, this illustrates the component units block diagram of the bridge-type crane control apparatus with rocking-prevention function of the 5th embodiment provided by the invention.This device comprise velocity setting signal generator 61, Programmable Logic Controller 62, speed governing unit 63, crane in bridge type motor 64 and with said Programmable Logic Controller 62 through serial communication interface bonded assembly embedded system 65.
This embodiment and the 4th embodiment difference are, adopt special-purpose embedded system 65 to realize the function of described time delay filter among this embodiment.Said Programmable Logic Controller 62 receives said velocity setting signal initial value as the control center of crane in bridge type, and this signal is passed to said embedded system 65; Said embedded system 65 is delivered to said Programmable Logic Controller 62 with the result after carrying out the time lag filter processing in view of the above; The mouth of said Programmable Logic Controller 62 passes to said speed governing unit to this velocity setting signal through the time lag filter processing of speed governing unit 63 outputs.
Among above-mentioned the 4th embodiment, the 5th embodiment, the concrete time delay filter function that realizes of Programmable Logic Controller or embedded system is identical with previous embodiment.If realized for the time become time delay filter, then said Programmable Logic Controller need receive from the hoisting speed i of coder or other sensors and the detected value of the long l of load rope, so that the system oscillation frequency and the system damping of calculating crane in bridge type.
Although only provide the mode that adopts Programmable Logic Controller and Programmable Logic Controller to cooperate to realize the time delay filter function among the above embodiment with embedded system; But; In fact can also adopt multiple other device to realize the time delay filter function, comprise independent employing embedded system, digital signal processor (DSP), micro controller system; Perhaps can adopt the mode of Programmable Logic Controller and micro controller system combination etc.In a word, can adopt the Industry Control device of various special uses to combine corresponding program to realize above-mentioned time delay filter function.
Above-mentioned each embodiment can also be provided with and prevent shaking switch, is used for switching whether need use the electronic anti-swinging function, so that the operator selects.
In the bridge-type crane control apparatus of the realization rocking-prevention function that the foregoing description provides; In order to have the good anti-effect of shaking; Consider driver's operating handle arbitrarily in the design; Allow bridge crane, dolly simultaneously and hoist, under any combination, all can realize rocking-prevention function with arbitrary speed, acceleration/accel combined running.Simultaneously, consider driver's impression, in the design of said apparatus, on the basis of the acceleration and deceleration number of times of trying one's best few, realize anti-shaking, and reduce the response time of electronic anti-swinging as far as possible.
Bridge-type crane control apparatus with rocking-prevention function provided by the invention is primarily characterized in that the employing feed-forward mode, realizes the transformation to the velocity setting signal, makes crane in bridge type can not cause vibration according to the motion of velocity setting signal.The control experience that this kind mode need not change the crane in bridge type physical construction and rely on the operator, and have the better anti-effect of shaking.
In addition, although the foregoing description all is embodied as example with the rocking-prevention function of speed control method; In fact; Above-mentionedly anti-shake controlling schemes and also be applicable to anti-the shaking under the position control, for example, anti-the shaking in the time of can being used to realize S. A. or the self-orientation of crane in bridge type.
The implementation of the rocking-prevention function under rocking-prevention function under the position control and the above-mentioned speed control will have a great difference.The driver is when carrying out the control of big/dolly; To no longer operate through handle; But directly import the operational objective position of big dolly through certain mode (like the touch-screen of driver's cab); Carry out the positioning trip of large and small car then through switching device (like stretcher), when the operational process neutralization of large and small car runs abort, realize that the anti-of load shakes simultaneously.Below anti-under the position control shaken and be divided into the S. A. location and the self-orientation dual mode describes respectively.
S. A. location mainly comprises the positioning trip and big/anti-the shaking of load during trolley travelling of big/dolly.Under this kind mode, hoisting and descending of load still controlled by the driver operation handle.As shown in Figure 7, suppose that the initial position of big/dolly is (X
0, Y
0), the target location be (X, Y).After starting the S. A. positioning trip, big/dolly will run to the target location automatically, realize that simultaneously the anti-of load shakes.In the operational process, hiding by the driver of obstacle accomplished through handle control lifting mechanism.
Self-orientation mainly comprises greatly/the anti-positioning control of shaking and hoisting of load during the positioning trip of dolly, big/trolley travelling.Under this kind mode and since load hoist and following general who has surrendered by system's automatic guidance, move so need carry out the automatic obstacle-avoiding of calculating and the load in load optimized operation path.As shown in Figure 8, suppose that the initial position of big/dolly is (X
0, Y
0, Z
0), the target location be (X, Y, Z).After starting the self-orientation operation, load will run to the target location by the optimal path that crashproof function is arranged that calculates automatically.Obstacle information during the automatic obstacle-avoiding operation can be through the touch-screen setting of driver's cab.
When S. A. and self-orientation, the realization of load electronic anti-swinging will be different with speed control method shown in Figure 3.At this moment, the input of velocity setting signal generator 31 will no longer be driver's handle signal, but the object run position of big/dolly.Given according to this target location, the velocity setting signal generator will calculate corresponding velocity setting signal, and this velocity setting signal still is called velocity setting signal initial value.
Then, the same with speed control method, said time delay filter will receive said velocity setting signal initial value, and it is carried out time lag filter; Through behind the time lag filter, said velocity setting signal initial value is converted into have velocity setting signal after the anti-filtering of shaking effect, and exports velocity setting signal after this filtering.
Wherein, the form of time delay filter still adopts and becomes zero vibration time delay filter when foregoing.
When S. A. and self-orientation operation, stretcher is set, is used to start S. A. or self-orientation operation process at driver's cab.
Similar with the realization of electronic anti-swinging, S. A. and self-orientation program can realize in Programmable Logic Controller or other Industry Control devices, also can adopt the mode that combines between device to carry out through data communication.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; Can also make some improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (10)
1. the bridge-type crane control apparatus with rocking-prevention function comprises velocity setting signal generator, speed governing unit and motor; Said velocity setting signal generator is used to produce velocity setting signal initial value; Said speed governing unit is used for providing driving torque to arrive drive motor according to the velocity setting signal that receives; It is characterized in that; Also comprise time delay filter; This time delay filter receives the velocity setting signal initial value that said velocity setting signal generator sends, and this velocity setting signal initial value filtering formed has velocity setting signal after the anti-filtering of shaking effect, offers said speed governing unit.
2. the bridge-type crane control apparatus with rocking-prevention function according to claim 1 is characterized in that, said time delay filter is zero vibration time delay filter, and the pulse amplitude of its time lag filter and time location are:
t
1＝0， t
2＝ΔT
Wherein, A
1Be t
1The time pulse amplitude; A
2Be t
2The time pulse amplitude; ω is the system oscillation frequency of crane in bridge type; ξ is the system damping of crane in bridge type.
3. the bridge-type crane control apparatus with rocking-prevention function according to claim 2 is characterized in that, also comprises the long detecting unit of hoisting speed detecting unit and load rope, is used for detecting in real time the hoisting speed i and the long l of load rope of crane in bridge type; And use and detect the detected value that obtains in real time, calculate said system oscillation frequencies omega, system damping ξ according to following formula:
With the aforementioned calculation value, bring in pulse amplitude and the time location computing formula, obtain time change zero the vibrate time delay filter relevant with the state of kinematic motion of crane in bridge type.
4. the bridge-type crane control apparatus with rocking-prevention function according to claim 3 is characterized in that, establishing described system damping ξ is 0, the formula that becomes zero vibration time delay filter when then described into:
A
1＝0.5，A
2＝0.5
t
1＝0，
Wherein, l
kLong for detecting the rope that obtains in real time.
5. according to each described bridge-type crane control apparatus of claim 1-3, it is characterized in that said time delay filter adopts Programmable Logic Controller to realize with rocking-prevention function.
6. according to each described bridge-type crane control apparatus of claim 1-3, it is characterized in that said time delay filter is by adopting and Programmable Logic Controller bonded assembly Implementation of Embedded System with rocking-prevention function; Said Programmable Logic Controller receives said velocity setting signal initial value as the control center of crane in bridge type, and this signal is passed to said embedded system; Said embedded system is delivered to said Programmable Logic Controller with the result after carrying out the time lag filter processing in view of the above; Said Programmable Logic Controller passes to said speed governing unit with this velocity setting signal after the filtering that time lag filter is handled.
7. according to each described bridge-type crane control apparatus of claim 1-3, it is characterized in that described velocity setting signal is sent by the crane in bridge type control handle with rocking-prevention function.
8. according to each described bridge-type crane control apparatus of claim 1-3, it is characterized in that this device is provided with to be prevented shaking switch, is used for switching whether need use the electronic anti-swinging function with rocking-prevention function.
9. the bridge-type crane control apparatus with rocking-prevention function according to claim 1 is characterized in that, said time delay filter is zero vibration and differential time delay filter.
10. the bridge-type crane control apparatus with rocking-prevention function according to claim 1 is characterized in that, said time delay filter is zero vibration and two differential time delay filter.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102009032270A1 (en) * | 2009-07-08 | 2011-01-13 | Liebherr-Werk Nenzing Gmbh | Method for controlling a drive of a crane |
| CN102275816B (en) * | 2010-10-28 | 2013-10-23 | 三一集团有限公司 | Method and device for controlling crane lifting as well as crane |
| CN102502403B (en) * | 2011-10-28 | 2013-09-18 | 河南卫华重型机械股份有限公司 | Sway-prevention control method for crane |
| JP6192559B2 (en) * | 2014-02-12 | 2017-09-06 | 三菱電機株式会社 | Crane equipment |
| CN105016210B (en) * | 2015-06-10 | 2017-01-18 | 河海大学常州校区 | Anti-swing control method for crane |
| CN109384148B (en) * | 2017-08-02 | 2020-04-07 | 株式会社安川电机 | Vibration suppression method and vibration suppression device |
| EP3760567A4 (en) * | 2018-02-28 | 2021-11-17 | Tadano Ltd. | Crane |
| CN110467109B (en) * | 2019-07-29 | 2020-08-25 | 武汉理工大学 | Crane time optimal anti-swing control method and system |
| CN112141888A (en) * | 2020-09-25 | 2020-12-29 | 深圳市海浦蒙特科技有限公司 | Open-loop anti-swing control device and time lag filter for bridge crane |
| CN113860174B (en) * | 2021-09-14 | 2023-12-19 | 苏州时代新安能源科技有限公司 | Crane control method, crane control system and crane |
| CN114572842B (en) * | 2022-03-24 | 2023-02-14 | 江苏苏港智能装备产业创新中心有限公司 | Control method, device and equipment for inhibiting swinging of grab bucket and storage medium |
| CN114604314B (en) * | 2022-03-31 | 2023-06-09 | 中南大学 | Crane non-zero speed continuous steering control method, crane and electronic equipment |
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