PLC frequency-converting speed-governing control system for eliminating tower-type crane load

Abstract

The invention discloses a PLC frequency-converting speed-governing control system for eliminating tower-type crane load, based on an E1 time-delayed filter, which is developed by the following steps:establishing an inertia pole coordinate system, a non-inertia cartesian coordinate system and a non-inertia sphere coordinate system; establishing a nonlinear dynamics model and a linear dynamics model of a tower-type crane. The control system comprises an operation console, a controller, a PLC, a frequency-converting set, a hoisting mechanism motor, a brake, a hoisting mechanism, an amplitude varied mechanism motor, an amplitude varied mechanism, a swing mechanism motor and a swing mechanism. The controller consists of a load swing frequency and damping ratio calculation unit, a system parameter calculation unit and a time-delayed filter calculation unit. The invention provides the PLC frequency-converting speed-governing control system based on the dynamic property and the time-delayed filter principle of the tower-type crane, which has simple structure, low cost, convenient operation and effective elimination of load swing.

Description

technical field [0001] The present invention relates to a kind of PLC frequency conversion speed regulation control system, especially a kind of PLC frequency conversion speed regulation control system based on time-delay filtering theory (Georgia Institute of Technology called input shaping theory) to eliminate tower crane load swing, this control system can Effectively eliminate the load swing of the tower crane and realize the swing-free transportation of loads. It belongs to the technical field of crane control. Background technique [0002] Tower cranes are mainly used on construction sites for the handling, construction and installation of building materials. With the wide application of frequency conversion speed regulation technology on tower cranes, the working efficiency, safety and reliability of tower cranes have been improved. The tower crane drives the trolley through the luffing mechanism and the slewing mechanism, and the load is connected to the trolley thr...

AI Technical Summary

Problems solved by technology

The frequent lifting and braking of the operating mechanism of the tower crane causes the load to swing, and the load swing brings the following hazards: 1) Generates periodic torque, bending moment and tipping moment, which affects the safety and reliability of the tower crane; 2) Extending the auxiliary operation time reduces the working efficiency of the tower crane; 3) increases the power consumption; 4) makes it difficult for the tower crane to realize automatic loading / unloading, which prevents the process of automatic operation

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