CN202625634U - Electronic anti-sway control system for crane - Google Patents
Electronic anti-sway control system for crane Download PDFInfo
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- CN202625634U CN202625634U CN 201220151122 CN201220151122U CN202625634U CN 202625634 U CN202625634 U CN 202625634U CN 201220151122 CN201220151122 CN 201220151122 CN 201220151122 U CN201220151122 U CN 201220151122U CN 202625634 U CN202625634 U CN 202625634U
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Abstract
The utility model discloses an electronic anti-sway control system for a crane. The electronic anti-sway control system for the crane is characterized by comprising a hoisting frequency converter, a trolley frequency converter, a crane programmable logic controller (PLC), a trolley coder and an electronic anti-sway controller, wherein the hoisting frequency converter and the trolley frequency converter are connected with the crane PLC; the trolley coder and a hoisting coder are connected with the electronic anti-sway controller; and the electronic anti-sway controller is connected with the crane PLC and comprises a recommended standard 485 (RS485) circuit, a Siemens profibus controller 3 (SPC3) circuit, a trolley coder interface circuit, a hoisting coder interface circuit, a NOR Flash chip, an AND Flash chip, a double data rate random access memory (DDRRAM) chip, a keyboard circuit and a display equipment circuit which are connected with a central processing unit (CPU) circuit.
Description
Technical field
The utility model relates to a kind of electronic anti-swinging control system that is used for hoisting crane.
Background technology
Because country is vigorously advocating the opinion of energy-saving and emission-reduction, and human cost is increasingly high at present, so unattended full automaticity product gains great popularity.Especially true at steel industry.In the iron and steel enterprise of China always is that the employee is numerous, and a common post all is the several people, and human cost pressure is very big.Therefore domestic main iron and steel enterprise all begins to carry out the automatic improving of hoisting crane; In grassroot project, also doing one's utmost to promote the automation hoisting crane, but the problem of waving that a maximum obstacle is exactly a lifted load in the automation application of crane in bridge type can't solve.This is because the acceleration and deceleration of dolly and the lifting action and the external factor of load can cause swinging back and forth of heavy lift, and this has not only increased the possibility that accident takes place, and has had a strong impact on the raising of production operation efficiency.Before the eighties; Generally all be M/C, though disappear pendulum and the location that rely on craneman's operating experience can realize load, owing to skilled craneman's length and reason such as working strength is big cycle of training; Make the raising of work efficiency be very limited; Therefore control system is shaken in an urgent demand automatic visit that crane in bridge type occurs, solving the undue dependence to operator's experience, thereby significantly increases work efficiency.
But electronic anti-swinging and automatic job control system core technology are to grasp in foreign side's hand always, and do not sell separately as software, only with the supporting sale of hardware, cause the automatically controlled part of full automaticity hoisting crane to cost an arm and a leg.Therefore electronic anti-swinging is studied, the hoisting crane automatic job control system that exploitation has independent intellectual property right just seems very necessary.
At present both at home and abroad also rare case can be followed in the application of the electronic anti-swinging of crane in bridge type, mainly still is the electronic anti-swinging The Application of Technology of bank crane.
Summary of the invention
For addressing the above problem; The utility model provides a kind of solution effectively; Realize a kind of electronic anti-swinging control system that is used for hoisting crane; Effectively prevent the problem that crane hoisting load is waved with realizing in operational process, thus a large amount of human costs of saving, and also can be that the serious accident rate of personal injury reduces significantly.And will realize providing effectively, thereby the production efficiency of increasing substantially for the full automatic control of hoisting crane.
The utility model solves the technical scheme that its technical matters adopted: this electronic anti-swinging control system that is used for hoisting crane comprises the frequency converter that hoists, dolly frequency converter, hoisting crane PLC, dolly coder and electronic anti-swinging controller; Hoist frequency converter, dolly frequency converter links to each other with hoisting crane PLC; Dolly coder, the coder that hoists link to each other with the electronic anti-swinging controller; The electronic anti-swinging controller links to each other with hoisting crane PLC.The electronic anti-swinging controller comprises RS 485 circuit, SPC3 circuit, dolly encoder interface circuit, the encoder interface circuit that hoists, NOR Flash chip, AND Flash chip, DDR RAM chip, keyboard circuit, display equipment circuit, and each circuit all links to each other with CPU.
The applicable cases of comprehensive electronic anti-swinging both domestic and external system mainly is divided into two big types at present:
1. move whole process through preventing that the technology of shaking does not produce load and waves.
2. carry out material casting and get material through the anti-optimum rocking curve of generation that waves that shakes techniques make use load in the operational process.
But the second way mainly is to be applied to the ship unloaders field, and as far as ordinary bridge crane, the purpose of electronic anti-swinging is load not to be produced wave, so will adopt first kind of pattern, this utility model is with the anti-technology of shaking of first kind of form of focus development.
This technology will be implemented in the operational process load and not produce significantly and wave, and when running to the target location, lifting mechanism is in the mode of operation that can get material or blowing immediately.
Can know that by mechanical model lifting mechanism handling load can be regarded as a simple harmonic quantity single pendulum in the hoisting crane operational process, so under theoretical state; When dolly reduces speed now, if the deflection angle of load and cireular frequency all near zero the time, dolly reduces speed now according to load period of single pendulum T then; Do not consider extraneous interference (mainly be wind influence, hang thing inclination etc.) under; When dolly arrival target location stops, hanging thing and also should stop at the target location, can not swing.In fact, because objectively some external interference exist, when stopping, hanging thing and still can swing within the specific limits, but prevent that to hanging thing distant fine setting both can reach the requirement of accuracy of positioning on this basis in dolly arrival target location.
The beneficial effect of the utility model is the problem of waving that has realized effectively preventing Crane Load; With the production domesticization of electronic anti-swinging technology; Fill up the technological gap in the corresponding field of domestic technique; Reduce hoisting crane simultaneously and controlled personnel, reduced the accident rate of personnel cost and personal injury, improved production efficiency.
Description of drawings
Fig. 1 is the system architecture scheme drawing of the utility model.
Fig. 2 is the utility model controller circuitry figure.
Fig. 3 is the utility model control system figure.
Fig. 4 is the utility model position input mode chart
Fig. 5 is the utility model position output waveform figure
Fig. 6 is the utility model position control rule list
Fig. 7 is the utility model trolley travelling diagram of curves
Fig. 8 is the utility model load beat view
The specific embodiment
Be described in detail the specific embodiment of the utility model below in conjunction with technical scheme and accompanying drawing.
Embodiment:
1. system constitutes
Figure is as shown in Figure 1 for the complete machine electrical control system structure; In order to simplify hoisting crane retrofit work amount; That is applied on the existing hoisting crane simply and easily to make the utility model, so total system will be carried out communication with original PLC of hoisting crane, thereby realizes the action control to hoisting crane by former PLC; And gather main control data from former PLC, increase the utility model controller and dolly coder so on the original basis, the coder that hoists can realize the electronic anti-swinging function.
The workflow of the utility model is to be gathered operating instruction signal, the dolly speed signal of former PLC through communication modes by the utility model controller; The dolly position coder that directly increases is gathered the signal of dolly position and lifting altitude with the position coder that hoists; Carrying out real-time speed according to the single pendulum model then regulates; And then the running velocity and the service direction of control dolly, thereby the rocking-prevention function of realization load.
2. controller constitutes
The utility model controller is a core component, is responsible for the collection and the speed controlling function of all data, and its constructional drawing is seen Fig. 2.
Because the utility model requires fast speed that speed is responded and calculates, so will adopt high-speed CPU as central process unit, this instance adopts the ARM9 chip to accomplish.
Because the ARM9 chip is a central process unit, to work also needs peripheral chip to cooperate, so will need Nor Flash chip, And Flash chip, DDR RAM chip to guarantee that CPU normally moves around CPU.Need carry out communication with PLC in addition; This instance adopts the PLC of Siemens; Because Siemens PLC C mainly adopts the Profibus communication; But the controller ARM9 of this instance can not directly carry out communication through Profibus and PLC as CPU, accomplishes the communication between controller CPU and the PLC so increased the communication interface chip SPC3 and the RS485 interface circuit of Siemens.In addition for the ease of field monitor data and parameter setting, so also increased keyboard circuit and then display equipment circuit.
3. principle of work
Lifting mechanism handling load can be regarded as a simple harmonic quantity single pendulum in the hoisting crane operational process, can be known by mechanical model, under theoretical state; When reducing speed now, if the deflection angle of load and cireular frequency all near zero the time, dolly reduces speed now according to load period of single pendulum T then; Do not consider extraneous interference (mainly be wind influence, hang thing inclination etc.) under; When dolly arrival target location stops, hanging thing and also should stop at the target location, can not swing.In fact, because objectively some external interference exist, when stopping, hanging thing and still can swing within the specific limits, but prevent that to hanging thing distant fine setting both can reach the requirement of accuracy of positioning on this basis in dolly arrival target location.
Need build robot control system(RCS) in order to realize this function; Figure is as shown in Figure 3 for its control system; Because the math modeling self of crane system has nonlinear characteristic and uncertainty, therefore will not rely on math modeling and can adapt to probabilistic Fuzzy control system and be applied in this controller.Fuzzy control can be imitated the practical operation experience of crane driver, sets up fuzzy rule base, eliminates hunting of load.
In Fuzzy control system, designed 2 fuzzy controllers, the speed that is input as dolly of ambiguous location controller and speed reference curve poor is output as control action u1, and the input of fuzzy anti-pendulum controller has two: pivot angle θ, pivot angle speed d θ/dt; Be output as control action u2.Its position input mode chart is seen Fig. 4, and the position output waveform figure is seen Fig. 5, and location variable control law table is seen Fig. 6.
Under the effect of this control system, dolly will calculate and the altimeter that hoists is calculated the angle of load and dolly according to crab traversing speed, thereby calculate the speed that each instantaneous dolly should move, and be illustrated in figure 7 as the speed and the time plot of dolly.
The implication of each parameter is following among Fig. 7:
First section pick-up time of t2 dolly
Travel at the uniform speed the time after first section acceleration of t3 dolly, go out through calculated with mathematical model
Second section pick-up time of t4
T5 travels at the uniform speed the time, according to motor with coder detect the position that stops
First section deceleration standing time of t6 dolly goes out through calculated with mathematical model
The time that the t7 fuzzy control is used, go out through calculated with mathematical model
Under above-mentioned basic theory condition, according to the work operating mode of hoisting crane, can calculate each associated mechanisms operational parameter control, for the working control program provides the basis, can calculate under the limit size, load is not waved when being implemented in trolley travelling.During trolley travelling, load beat state is seen Fig. 8, visible waves after control system participates in control putting, and dolly load when starting and stopping is to remain static basically.
4. software programming
The software of the controller of the above-mentioned control system model of foundation and communications protocol establishment the utility model is set up the fuzzy control data sheet, writes the program module of the fuzzy control model of realization system, realizes the operating function of controller, accomplishes the structure of total system.
Claims (1)
1. electronic anti-swinging control system that is used for hoisting crane, it is characterized in that: this electronic anti-swinging control system that is used for hoisting crane comprises the frequency converter that hoists, dolly frequency converter, hoisting crane PLC, dolly coder and electronic anti-swinging controller; Hoist frequency converter, dolly frequency converter links to each other with hoisting crane PLC; Dolly coder, the coder that hoists link to each other with the electronic anti-swinging controller; The electronic anti-swinging controller links to each other with hoisting crane PLC; The electronic anti-swinging controller comprises RS 485 circuit, SPC3 circuit, dolly encoder interface circuit, the encoder interface circuit that hoists, NOR Flash chip, AND Flash chip, DDR RAM chip, keyboard circuit, display equipment circuit, and each circuit all links to each other with CPU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220151122 CN202625634U (en) | 2012-04-11 | 2012-04-11 | Electronic anti-sway control system for crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220151122 CN202625634U (en) | 2012-04-11 | 2012-04-11 | Electronic anti-sway control system for crane |
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| Publication Number | Publication Date |
|---|---|
| CN202625634U true CN202625634U (en) | 2012-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220151122 Expired - Fee Related CN202625634U (en) | 2012-04-11 | 2012-04-11 | Electronic anti-sway control system for crane |
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| CN (1) | CN202625634U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104310218A (en) * | 2014-09-30 | 2015-01-28 | 苏州汇川技术有限公司 | System and method for anti-sway control of crane |
| CN105967070A (en) * | 2016-07-10 | 2016-09-28 | 大连宝信起重技术有限公司 | Automatic handling equipment for cold rolling mills |
| CN106586833A (en) * | 2016-11-04 | 2017-04-26 | 合肥市春华起重机械有限公司 | Built-in crane anti-sway control system |
-
2012
- 2012-04-11 CN CN 201220151122 patent/CN202625634U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104310218A (en) * | 2014-09-30 | 2015-01-28 | 苏州汇川技术有限公司 | System and method for anti-sway control of crane |
| CN105967070A (en) * | 2016-07-10 | 2016-09-28 | 大连宝信起重技术有限公司 | Automatic handling equipment for cold rolling mills |
| CN106586833A (en) * | 2016-11-04 | 2017-04-26 | 合肥市春华起重机械有限公司 | Built-in crane anti-sway control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121226 Termination date: 20170411 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |