Crane anti-swing control method based on frequency converter and frequency converter

Abstract

The invention discloses a crane anti-swing control method based on a frequency converter and the frequency converter. The crane anti-swing control method based on the frequency converter comprises the steps that a speed giving module of the frequency converter receives an issued crane operational order, a crane operational order comprises a target speed Va, and the target speed Va serves as an initial given speed Vb to be sent to an anti-swing module of the frequency converter; the anti-swing module obtains a real-time swing angle theta of hoisting, based on the real-time swing angle theta and the feedback current If obtained by an electric current acquiring module of the frequency converter, the given speed Vb is subjected to real-time amending, and a real-time amended result is output to a motor control module of the frequency converter; and the motor control module drives a motor to operate according to the real-time amended result. According to the crane anti-swing control method based on the frequency converter, the anti-swing function of the crane is directly integrated into the frequency converter, compared with mechanical anti-swing, the cost is low, and maintenance is easy; and compared with a peripheral option type electronic anti-swing scheme, the peripheral electrical design is simple, the cost is low, fault points are less, and meanwhile the effect of controlling weights to swing is better.

Description

technical field [0001] The invention relates to the field of hoisting, in particular to a frequency converter-based crane anti-sway control method and a frequency converter. Background technique [0002] The translation of the general crane (generally refers to the translation of the cart and the translation of the trolley) is generally realized by the motor driven by the frequency converter. However, ordinary frequency converters only do speed control and have no anti-swing function for spreaders or heavy objects. During actual operation, the heavy objects hoisted shake more seriously, which affects the operating efficiency of the crane. [0003] In order to achieve anti-sway control, there are two main solutions as follows: [0004] The first is the mechanical anti-sway solution. This solution mainly adds anti-sway wire ropes around the spreader. Through the control of the anti-sway motor, the spreader is cable-stayed when the mechanism is running, thereby achieving the p...

AI Technical Summary

Problems solved by technology

However, this solution requires data exchange with the inverter, and the control model of the motor is not considered except for the interaction delay, so the actual test results are not ideal

Moreover, adding an anti-shake control car

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