KR960010507A - Spreader Positioning Control System of Container Crane - Google Patents

Spreader Positioning Control System of Container Crane Download PDF

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Publication number
KR960010507A
KR960010507A KR1019940025063A KR19940025063A KR960010507A KR 960010507 A KR960010507 A KR 960010507A KR 1019940025063 A KR1019940025063 A KR 1019940025063A KR 19940025063 A KR19940025063 A KR 19940025063A KR 960010507 A KR960010507 A KR 960010507A
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KR
South Korea
Prior art keywords
spreader
main controller
control system
command
input
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KR1019940025063A
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Korean (ko)
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KR0153557B1 (en
Inventor
이영석
이해규
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이해규
삼성중공업 주식회사
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Priority to KR1019940025063A priority Critical patent/KR0153557B1/en
Publication of KR960010507A publication Critical patent/KR960010507A/en
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Publication of KR0153557B1 publication Critical patent/KR0153557B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/42—Hydraulic transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

본 발명은 콘테리너 크레인의 스프레더포지셔닝 제어시스템에 관한 것이다. 본 발명의 제어시스템은 스프레더포지션에 대한 동작지령 각각의 제어프로그램을 구비한 메인콘트롤러와, 메인콘트로러와 통신가능하도록 연결되며 메인콘트롤러에서 전송된 동작지령에 따라 스프레더와 로프를 통해 연결된 유압실린더들의 구동을 제어하는 PID제어부, 및 유압실린더에 부착된 위치 감지센서를 통해 현위치 및 움직인 거리에 대한 정보를 PID제어 부로 피드백되도록 구성된다. 따라서, 본 발명은 스프레더의 포지션을 정하는 데 있어 보다 정밀하게 제어할 수 있는 효과를 갖는다.The present invention relates to a spreader positioning control system of a container crane. The control system of the present invention includes a main controller having a control program for each of the operating instructions for the spreader position, and a hydraulic cylinder connected to the main controller to communicate with the main controller and connected through the spreader and the rope according to the operating command transmitted from the main controller. PID control unit for controlling the drive, and the position sensor attached to the hydraulic cylinder is configured to feed back information about the current position and the distance moved to the PID control unit. Therefore, the present invention has the effect of more precise control in determining the position of the spreader.

Description

콘테이너 크레인의 스프레더포지셔닝 제어시스템Spreader Positioning Control System of Container Crane

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 일반적인 콘테이너 크레인의 스프레더포지셔닝 제어시스템을 나타낸 블록도,1 is a block diagram showing a spreader positioning control system of a general container crane,

제2도는 본 발명에 의한 콘테이너 크레인의 스프레더포지셔닝 제어시스템을 나타내는 블록도,2 is a block diagram showing a spreader positioning control system for a container crane according to the present invention;

제3도는 제2도에서 콘테이너 크레인의 스프레더포지셔닝 제어시스템에 대한 상세도,3 is a detailed view of the spreader positioning control system of the container crane in FIG.

제4도는 제3도 시스템의 동작을 설명하기 의한 흐름도.4 is a flow chart illustrating the operation of the FIG. 3 system.

Claims (9)

크레인에서 콘테이너를 매다는 스프레더의 포지션을 제어하기 위한 시스템에 있어서,상기 스프레더의 포지션에 대한 동작지령을 내티를 조작반; 상기 조작반으로부터 공급되는 동작지령을 디지탈 입출력단자를 통해 출력하는 크레인운영시스템; 상기 크레인운영시스템의 디지탈 입출력단자와 대응하게 연결된 디지탈 입출력단자로 입력되는 동작지령에 해당하는 제어명령를 통신포트를 통해 전송하는 메인콘트롤러; 상기 메인콘트롤러와 통신가능하도록 연결되며 입력되는 제어명령에 해당하는 서보-액츄에이터의 실린더 작동신호를 출력하는 PID제어부; 및 공 ·유압 또는 전기로 작동되는 실린더를 사용하며 상기 PID 제어부로부터 인가되는 작동신호에 따라 스프레더포지션을 조절하기 위한 서보-액츄에이터를 포함하는 콘테이너 크레인의 스프레더포지셔닝 제어시스템.A system for controlling the position of a spreader hanging from a crane, the system comprising: a control panel for operating an operation command for a position of the spreader; A crane operating system for outputting an operation command supplied from the operation panel through a digital input / output terminal; A main controller configured to transmit a control command corresponding to an operation command input to a digital input / output terminal connected to the digital input / output terminal of the crane operating system through a communication port; A PID controller connected to communicate with the main controller and outputting a cylinder operation signal of a servo-actuator corresponding to an input control command; And a servo-actuator for adjusting a spreader position in response to an operation signal applied from the PID control unit, using a cylinder operated by a pneumatic or hydraulic pressure. 제1항에 있어서, 상기 PID 제어부와 서보-액츄에이터 사이에 연결되며, 상기 PID제어부에서 공급되는 작동신호를 일정크기로 증폭하기 위한 증폭기를 더 포함하는 콘테이너 크레인의 스프레더포지셔닝 제어시스템.The spreader positioning control system according to claim 1, further comprising an amplifier connected between the PID control unit and the servo-actuator and amplifying the operation signal supplied from the PID control unit to a predetermined magnitude. 제1항 또는 제2항에 있어서, 상기 PID제어부는 상기 서보-액츄에이터의 각 실린더로부터 현재위치, 움직임 거리에 대한 정보를 피드백받아 상기 메인콘트롤러로 재전송하는 것을 특징으로 하는 콘테이너 크레인의 스프레더포지셔닝 제어시스템.The spreader positioning control system according to claim 1 or 2, wherein the PID control unit receives feedback on the current position and the movement distance from each cylinder of the servo-actuator and retransmits it to the main controller. . 제3항에 있어서,상기 메인콘트롤러와 상기 PID제어부 사이에는 RS-232C로 접속하는 것을 특징으로하는 콘테이너 크레인의 스프레더포지셔닝 제어시스템.The spreader positioning control system of claim 3, wherein the main controller and the PID control unit are connected by RS-232C. 제4항에 있어서, 상기 메인콘트롤러는 입력받은 서브-액츄에이터의 실린더의 현 위치 및 움직인 거리에 대한 정보에 따라 소망의 동작지령에 해당하는 제어가 완료되도록 상기PID제어부에 제어명령을 전송하는 것을 특징으로 하는 콘테이너 크레인의 스프레더포지셔닝 제어시스템.The method of claim 4, wherein the main controller transmits a control command to the PID control unit to complete the control corresponding to the desired operation command according to the information about the current position and the moving distance of the cylinder of the sub-actuator. A spreader positioning control system for a container crane. 제5항에 있어서, 상기 메인콘트롤러는 입력받은 서브-액츄에이터의 실린더의 현 위치 및 움직인 거리에 대한 정보에 의해서 스프레더의 형성각도를 구하고, 그 스프레더의 각도를 아날로그 입출력단자를 통해 출력하는 것을 특징으로 하는 콘테이너 크레인의 스프레더포지셔닝 제어시스템.The method of claim 5, wherein the main controller obtains the forming angle of the spreader based on the current position and the moving distance of the cylinder of the input sub-actuator, and outputs the angle of the spreader through the analog input and output terminals. Spreader positioning control system for container cranes. 제6항에 있어서, 상기 크레인운영시스템은 상기 메인콘트롤러의 아날로그 입출력단자와 대응하게 연결된 아날로그 입출력단자를 통해 입력받은 스프레더의 형성각도를 운전자가 모니터링할 수 있도록 표시하는 것을 특징으로 하는 콘테이너 크레인의 스프레더포지셔닝 제어시스템.The spreader of the container crane according to claim 6, wherein the crane operating system displays the angle of formation of the spreader received through the analog input / output terminal corresponding to the analog input / output terminal of the main controller so that the driver can monitor the angle. Positioning control system. 제6항에 있어서, 상기 메인콘트롤러는 동작지령에 따라 세트상태의 비트자리가 다른 디지탈 입출력단자의 비트자리를 우선순위에 따라 검색하여 해당 동작지령의 제어명령을 출력하는 것을 특징으로 하는 콘테이너 크레인의.스프레더포지셔닝 제어시스템.7. The container crane according to claim 6, wherein the main controller outputs a control command of the operation command by searching the bit positions of the digital input / output terminals having different bit positions in the set state according to the operation command in order of priority. Spreader Positioning Control System 제8항에 있어서, 상기 메인콘트롤러는 디지탈 입출력단자를 검색하여 입력된 동작지령이 해체될 때까지 해당 제어명령을 전송하는 것을 특징으로 하는 콘테이너 크레인의 스프레더포지셔닝 제어시스템.The spreader positioning control system according to claim 8, wherein the main controller transmits a corresponding control command until the input / output command is released by searching for the digital input / output terminal. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019940025063A 1994-09-30 1994-09-30 Sprader positioning control system in a container crane KR0153557B1 (en)

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Application Number Priority Date Filing Date Title
KR1019940025063A KR0153557B1 (en) 1994-09-30 1994-09-30 Sprader positioning control system in a container crane

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Application Number Priority Date Filing Date Title
KR1019940025063A KR0153557B1 (en) 1994-09-30 1994-09-30 Sprader positioning control system in a container crane

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KR960010507A true KR960010507A (en) 1996-04-20
KR0153557B1 KR0153557B1 (en) 1999-02-18

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100946631B1 (en) * 2007-12-31 2010-03-09 김성수 The spreader control system in a container crane, and thereof method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100946631B1 (en) * 2007-12-31 2010-03-09 김성수 The spreader control system in a container crane, and thereof method

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