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PLC frequency-converting speed-governing control system for eliminating the swing of gantry crane goods

A technology of gantry cranes and control systems, applied in the direction of load hanging components, transportation and packaging, etc., which can solve the problems of increasing system complexity, reducing system response speed, increasing system complexity and maintenance workload, etc.

Inactive Publication Date: 2010-03-03
SHANDONG JIANZHU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there are mechanical anti-sway and electronic anti-sway methods to eliminate the swing of goods. The mechanical type usually adds a set of mechanisms or hydraulic devices to consume the vibration energy of the system to eliminate the vibration of the goods. This method increases the system’s Complexity and maintenance workload; electronic swing elimination based on control theory and algorithms is the current development trend. In many cases, electronic swing elimination adopts a closed-loop control strategy, which requires the installation of a camera system or a cargo swing angle measurement system. This also increases the complexity of the system and reduces the system response speed

Method used

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  • PLC frequency-converting speed-governing control system for eliminating the swing of gantry crane goods
  • PLC frequency-converting speed-governing control system for eliminating the swing of gantry crane goods
  • PLC frequency-converting speed-governing control system for eliminating the swing of gantry crane goods

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Experimental program
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Embodiment Construction

[0065] exist Figure 5 Mode of operation of the middle hoisting mechanism. The operator presses the operation console 1, sends out the speed given signal 23 for lifting the goods to the hoisting mechanism, and sends out control signals to the hoisting mechanism frequency converters 9 and 22 through the operation of the PLC 8, so that the hoisting mechanism motors 14 and 16 drive the lifting mechanism. The lift mechanism 15 lifts the cargo. When the target position is reached, the operator presses the operation console 1, and sends a given signal 23 for reducing the speed of the goods to the hoisting mechanism. The motors 14 and 16 rotate in the reverse direction, driving the hoisting mechanism 15 to lower the cargo, and at the same time, the hoisting mechanism brakes 13 and 17 start to brake, and finally the cargo is placed at the target position.

[0066] The operation mode of the trolley mechanism. The operator presses the operation console 1, and sends a speed given sign...

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Abstract

The invention discloses a PLC frequency-converting speed-governing control system for eliminating the swing of the gantry crane goods based on a ZVD 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 of a gantry crane; establishing a nonlinear dynamics model and a linear dynamics model of the gantry 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, a trolley motor, a trolley mechanism, a cart motor and a cart mechanism. The controller consists of a goods 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 ZVD time-delayed filter, which has simple structure, low cost, convenient operation and effective elimination of goods swing.

Description

technical field [0001] The invention relates to a PLC frequency conversion speed regulation control system, in particular to a PLC frequency conversion speed regulation control system based on the time-delay filtering theory (referred to as input shaping theory by the Georgia Institute of Technology in the United States) to eliminate the swing of the gantry crane cargo. The control system can It can effectively eliminate the swing of goods and realize the transportation of goods without swing. It belongs to the technical field of crane control. Background technique [0002] Gantry cranes are mainly used for handling and installation in open storage yards, docks, power stations, ports and railway freight stations. This is mainly because the uncertainty of the special mechanical structure and operating environment of the gantry crane determines that the gantry crane has special dynamic characteristics, making it difficult to realize automation and increasing the automation co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/22
Inventor 董明晓杨红娟陈继文脱建智徐书娟胡长涛朱翠兰
Owner SHANDONG JIANZHU UNIV
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