Servo control system and method for bulk cargo crown block

Abstract

The invention provides a servo control system and method for a bulk cargo crown block, and belongs to the technical field of industrial automation control, and the system comprises two range finders which are used for collecting the distance information between the range finders and the crown block; the IMU sensor is used for collecting corner information of the crown block; the industrial personal computer is used for receiving speed information, distance information and corner information of a crown block and a bridge frame, determining a deviation angle of a crown block main beam based on the distance information and the corner information, carrying out cross coupling on the deviation angle and the speed information to obtain a motor target current value, and sending the motor target current value to the bridge frame; and inputting the motor target current value into the motor driver. According to the method, the deviation angle of the main beam can be obtained through fusion processing of the corner information and the distance measurement information, the deviation angle and the speed information are input into the cross coupling system together, the corrected motor target current value is obtained, and the technical problems that in the prior art, crown block operation efficiency is low, and bridge equipment is seriously abraded are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation control, and in particular to a servo control system and method for a bulk cargo overhead crane. Background Art

[0002] Bulk cranes are widely used in ports, docks and industrial plants, mainly for handling bulk goods such as coal, ore, grain, etc. Due to the nature of bulk materials, bulk cranes require precise positioning to ensure the accuracy of grabbing and placing, and avoid material spillage or loss.

[0003] In traditional overhead crane control systems, since the trolley (bridge) operating mechanism is often driven by motors on both sides simultaneously, when faced with load disturbances and uncertainties, it is difficult for the motors on both sides to achieve precise synchronous control due to uneven load distribution, resulting in low overhead crane operating efficiency and severe wear of the bridge equipment. Summary of the invention

[0004] In view of this, it is necessary to provide a servo control system and method for a bulk cargo overhead crane to solve the technical problems of low overhead crane operation efficiency and severe wear of bridge equipment existing in the prior art.

[0005] In order to solve the above problems, the present invention provides a servo control system for a bulk cargo overhead crane, comprising: Two distance meters are respectively arranged on both sides of the bridge of the overhead crane to collect the distance information between the distance meter and the overhead crane; IMU sensor, installed on the overhead crane, is used to collect the rotation angle information of the overhead crane; The industrial computer is used to receive the speed information of the overhead crane and the bridge, as well as the distance information and the rotation angle information, and determine the offset angle of the overhead crane main beam based on the distance information and the rotation angle information, cross-couple the offset angle and the speed information to obtain the motor target current value, and input the motor target current value into the motor driver to drive the motors on both sides of the bridge through the motor driver to perform servo control on the overhead crane or the bridge.

[0006] In a possible implementation, the servo control system for bulk cargo overhead crane further includes: A load sensor is provided on the spreader of the overhead crane and is used to collect load information of the spreader; The industrial computer is also used to receive the load information, and input the load information and the distance information into a fuzzy PID module to obtain a fuzzy calculation result, and input the fuzzy calculation result into the motor driver to compensate for the steady-state error of the motor.

[0007] In a possible implementation, the motor includes: a first drive motor and a second drive motor; the first drive motor is used to drive the bridge frame to move, and the second drive motor is used to drive the overhead travelling crane to move; The motor driver includes: a first motor driver corresponding to the first drive motor and a second motor driver corresponding to the second drive motor.

[0008] In a possible implementation, the servo control system for bulk cargo overhead crane further includes: A first encoder is used to collect speed information of the bridge and send the speed information of the bridge to the industrial computer; The second encoder is used to collect speed information of the overhead crane and send the speed information of the overhead crane to the industrial computer.

[0009] In a possible implementation, the servo control system further includes: The third drive motor is used to drive the grab bucket of the overhead crane to move; A third motor driver; The third encoder is used to collect the speed information of the grab bucket; The industrial computer is also used to receive speed information of the grab bucket, and output a corresponding current value to the third motor driver based on the speed information of the grab bucket, so as to control the operation of the third drive motor through the third motor driver.

[0010] In a possible implementation, the first motor driver, the second motor driver, and the third motor driver are all communicatively connected to the industrial computer via a CAN bus.

[0011] In a possible implementation, the industrial computer is further used to determine the current position of the overhead crane based on the distance information, and determine the target speed of the overhead crane based on the difference between the current position of the overhead crane and the target position, and output a corresponding current value to the second motor driver based on the target speed, so as to control the second drive motor through the second motor driver to output power to the overhead crane at the target speed.

[0012] In a possible implementation manner, the rangefinder is a laser rangefinder.

[0013] On the other hand, the present invention further provides a servo control method for a bulk cargo overhead crane, the method being applied to any of the above-mentioned systems, the method comprising: Based on two distance meters, the distance information between the distance meter and the overhead crane is collected; Collect the rotation angle information of the overhead crane based on the IMU sensor; The industrial computer receives the speed information of the overhead crane and the bridge, as well as the distance information and the rotation angle information, and determines the offset angle of the overhead crane main beam based on the distance information and the rotation angle information, cross-couples the offset angle and the speed information to obtain the motor target current value, and inputs the motor target current value into the motor driver, so as to drive the motors on both sides of the bridge through the motor driver to perform servo control on the overhead crane or the bridge.

[0014] In a possible implementation, the servo control method for a bulk cargo overhead crane further includes: Collecting load information of the spreader based on the load sensor; The load information is received based on the industrial computer, and the load information and the distance information are input into the fuzzy PID module to obtain a fuzzy calculation result, and the fuzzy calculation result is input into the motor driver to compensate for the steady-state error of the motor.

[0015] The beneficial effect of adopting the above-mentioned implementation method is as follows: the servo control system and method for bulk cargo overhead crane provided by the present invention, during the operation of the overhead crane, the rotation angle information obtained by the IMU sensor and the distance measurement information fed back by the distance meters on both sides of the bridge are integrated and processed, so as to obtain the offset angle of the main beam caused by the asynchronous motors on both sides, and input it into the cross-coupling system together with the speed information of the overhead crane and the bridge, and perform cross-coupling processing to obtain the corrected motor target current value, which is input into the current loop of the motor controller corresponding to the servo motors on both sides to correct the deformation or distortion of the bridge caused by the asynchronous motors. The implementation of the cross-coupling control algorithm realizes the precise synchronous control of the motors on both sides during the operation of the bridge operating mechanism, reduces the imbalance on both sides, and reduces the wear of the equipment, thereby solving the technical problems of low overhead crane operation efficiency and severe wear of bridge equipment existing in the prior art, and extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A schematic structural diagram of an embodiment of a servo control system for a bulk cargo overhead crane provided by the present invention; Figure 2 A control principle block diagram of the bulk cargo overhead crane provided by the present invention; Figure 3 A flowchart of the asymptotic approximation method provided by the present invention; Figure 4The present invention is a flowchart of an embodiment of a servo control method for a bulk cargo overhead crane provided by the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0019] In the description of the embodiments of the present application, unless otherwise specified, “plurality” means two or more than two.

[0020] The terms "including" and "having" and any variations thereof in the embodiments of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product or equipment comprising a series of steps or modules is not necessarily limited to those steps or modules clearly listed, but may include other steps or modules not clearly listed or inherent to these processes, methods, products or equipment.

[0021] The naming or numbering of the steps in the embodiments of the present invention does not mean that the steps in the method flow must be executed in the time / logical sequence indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved.

[0022] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0023] The present invention provides a servo control system and method for a bulk cargo overhead crane, which are respectively described below.

[0024] like Figure 1 As shown, the present invention provides a servo control system for a bulk cargo overhead crane, comprising: Two rangefinders 103 are respectively arranged on both sides of the bridge of the overhead travelling vehicle, and are used to collect distance information between the rangefinder 103 and the overhead travelling vehicle; the rangefinder 103 is a laser rangefinder 103; An IMU (Inertial Measurement Unit) sensor 102 is provided on the overhead travelling crane and is used to collect the rotation angle information of the overhead travelling crane; The industrial computer 101 is used to receive the speed information of the overhead crane and the bridge, as well as the distance information and the rotation angle information, and determine the offset angle of the overhead crane main beam based on the distance information and the rotation angle information, cross-couple the offset angle and the speed information to obtain the motor target current value, and input the motor target current value into the motor driver to drive the motors on both sides of the bridge through the motor driver to perform servo control on the overhead crane or the bridge.

[0025] It can be understood that the present invention provides a high-precision servo control system for bulk cargo overhead crane, including a bridge (trolley), an overhead crane (cart), a lifting system, a drive system (motor driver and motor) and a control system (industrial computer 101). The control system receives instructions from a computer or an operator, and controls the bridge, car and lifting system through the drive system to complete the corresponding workflow.

[0026] The bridge part drives the overhead crane to move along the track through the servo motors installed on both sides of the main beam. The trolley part is not only equipped with a servo motor to drive it to move along the main beam track, but also equipped with a lifting system to drive the grab bucket for lifting and material movement operations.

[0027] The main control process is that when the main control system receives a motion command sent by the PC (personal computer) 114 or the operator, the industrial computer 101 outputs a control command to the driver corresponding to each motor. After each sensor feeds back the current motion state, the industrial computer 101 adjusts the output value through an internal algorithm. This design ensures the precise operation of the overhead crane under complex working conditions. When there are uncertain factors such as load changes, uneven load distribution, and friction differences, the motors on both sides of the bridge are prone to being out of sync. The present invention solves this problem through a cross-coupling control method.

[0028] In some embodiments, the servo control system for bulk cargo overhead crane further includes: The load sensor 104 is provided on the spreader of the overhead crane and is used to collect the load information of the spreader; The industrial computer 101 is also used to receive the load information, and input the load information and the distance information into a fuzzy PID (proportional, integral, differential control) module to obtain a fuzzy calculation result, and input the fuzzy calculation result into the motor driver to compensate for the steady-state error of the motor.

[0029] It is understandable that in order to achieve high-precision servo control of the system, in addition to installing high-precision encoders at the end of each drive motor to obtain the motor speed, laser rangefinders 103 are installed on the tracks on both sides of the bridge and the main beam track. IMU sensors 102 are installed on the trolley, and load sensors 104 are installed on the sling. After the servo controller (driver or current loop) obtains the feedback data provided by these sensors through the CAN bus (controller area network bus), the Kalman filter is used to fuse the sensor data and estimate the state.

[0030] During the operation of the overhead crane, the angle information obtained by the IMU sensor 102 and the distance measurement information fed back by the laser sensors on both sides of the bridge are fused and processed to obtain the offset angle of the main beam caused by the asynchronous motors on both sides, which is input into the cross-coupling system together with the speed information fed back by the servo motor encoders on both sides as an error. After calculation in the PID link, the corrected motor target current value is obtained and input into the current loop controlled by the servo motor to correct the deformation or distortion of the bridge caused by the asynchronous motor. The current loop is in the motor driver.

[0031] In addition, the distance measurement information fed back by the laser rangefinder 103 and the load sensor 104 on the main beam can feed back the position information of the load relative to the overhead crane and the load size. These data are input into the fuzzy PID module. After the fuzzy rules are calculated, the output obtained is input in parallel with the output of the cross-coupling module into the current loop controlled by the servo motor to compensate for the steady-state error caused by the cross-coupling module to the synchronous control system due to load changes and uneven load distribution.

[0032] In some embodiments, the motor includes: a first drive motor 108 and a second drive motor 109; the first drive motor 108 is used to drive the bridge frame to move, and the second drive motor 109 is used to drive the overhead travelling crane to move; The motor driver includes: a first motor driver 105 corresponding to the first drive motor 108 and a second motor driver 106 corresponding to the second drive motor 109 .

[0033] In some embodiments, the servo control system for bulk cargo overhead crane further includes: The first encoder 111 is used to collect the speed information of the bridge and send the speed information of the bridge to the industrial computer 101; The second encoder 112 is used to collect speed information of the overhead crane and send the speed information of the overhead crane to the industrial computer 101 .

[0034] It is understandable that the first encoder 111 can collect the rotation speed of the first drive motor 108 and convert the collected rotation speed of the first drive motor 108 into the speed information of the bridge.

[0035] Likewise, the second encoder 112 can collect the rotation speed of the second drive motor 109 and convert the collected rotation speed of the second drive motor 109 into speed information of the overhead travelling crane.

[0036] In some embodiments, the servo control system further includes: The third drive motor 110 is used to drive the grab bucket of the overhead crane to move; A third motor driver 107; The third encoder 113 is used to collect the speed information of the grab bucket; The industrial computer 101 is further used to receive speed information of the grab bucket, and output a corresponding current value to the third motor driver 107 based on the speed information of the grab bucket, so as to control the third drive motor 110 to work through the third motor driver 107 .

[0037] In some embodiments, the first motor driver 105 , the second motor driver 106 , and the third motor driver 107 are all communicatively connected to the industrial computer 101 via a CAN bus.

[0038] In some embodiments, the industrial computer 101 is also used to determine the current position of the overhead crane based on the distance information, and determine the target speed of the overhead crane based on the difference between the current position of the overhead crane and the target position, and output the corresponding current value to the second motor driver 106 based on the target speed, so as to control the second drive motor 109 to output power to the overhead crane according to the target speed through the second motor driver 106.

[0039] It is understandable that in order to further improve the positioning accuracy of the overhead crane, the system provided by the present invention adopts an asymptotic approximation algorithm. After the overhead crane is started, the system obtains the current position of the overhead crane, and before reaching the target position, the forward and backward operations are performed by judging the positive and negative of the given speed through the difference of the logical comparison between the target position and the current position. When the distance to the target position is far, the system accelerates; when approaching the target position, the system decelerates to ensure that the overhead crane can reach the target position smoothly and accurately.

[0040] In summary, the present invention provides a high-precision servo control system for a bulk cargo overhead crane, including a bridge (trolley), an overhead crane (cart), a lifting system, a drive system (motor driver and motor) and a control system (industrial computer 101). The control system receives instructions from a computer or an operator, and controls the bridge, car and lifting system through the drive system to complete the corresponding workflow.

[0041] The bridge part drives the overhead crane to move along the track through the servo motors installed on both sides of the main beam. The trolley part is not only equipped with a servo motor to drive it to move along the main beam track, but also equipped with a lifting system to drive the grab bucket for lifting and material movement operations.

[0042] In order to achieve high-precision servo control of the system, in addition to installing high-precision encoders at the end of each drive motor to obtain the motor speed, laser rangefinders are also installed on the tracks on both sides of the bridge and the main beam track. An IMU sensor 102 is installed on the trolley, and a load sensor 104 is installed on the hoist. After the servo controller (driver or current loop) obtains the feedback data provided by these sensors through the CAN bus, the Kalman filter is used to fuse the sensor data and estimate the state.

[0043] refer to Figure 2 The main control process is that when the main control system receives the motion command sent by the PC114 or the operator, the industrial computer 101 outputs the control command to the driver corresponding to each part of the motor. After each sensor feeds back the current motion state, the industrial computer 101 adjusts the output value through the internal algorithm. This design ensures the precise operation of the overhead crane under complex working conditions. When there are uncertain factors such as load changes, uneven load distribution, friction differences, etc., the motors on both sides of the bridge are prone to be out of sync. The present invention solves this problem through a cross-coupling control method.

[0044] During the operation of the overhead crane, the angle information obtained by the IMU sensor 102 and the distance measurement information fed back by the laser sensors on both sides of the bridge are fused and processed to obtain the offset angle of the main beam caused by the asynchronous motors on both sides, which is input into the cross-coupling system together with the speed information fed back by the servo motor encoders on both sides as an error. After calculation in the PID link, the corrected motor target current value is obtained and input into the current loop controlled by the servo motor to correct the deformation or distortion of the bridge caused by the asynchronous motor. The current loop is in the motor driver.

[0045] In addition, the distance measurement information fed back by the laser rangefinder on the main beam and the load sensor 104 can feedback the position information of the load relative to the overhead crane and the load size. These data are input into the fuzzy PID module. After the fuzzy rules are calculated, the output obtained is input in parallel with the output of the cross-coupling module into the current loop controlled by the servo motor to compensate for the steady-state error caused by the cross-coupling module to the synchronous control system due to load changes and uneven load distribution.

[0046] In order to further improve the positioning accuracy of the overhead crane, the system provided by the present invention adopts an asymptotic approximation algorithm. Figure 3After the crane is started, the system obtains the current position of the crane. Before reaching the target position, the system determines the positive or negative of the given speed by the difference between the target position and the current position to perform forward and backward operations. When the distance to the target position is far, the system accelerates; when approaching the target position, the system decelerates to ensure that the crane can reach the target position smoothly and accurately.

[0047] In summary, the servo control system for bulk crane provided by the present invention comprises: two rangefinders 103, respectively arranged on both sides of the bridge of the crane, for collecting distance information between the rangefinder 103 and the crane; an IMU sensor 102, arranged on the crane, for collecting rotation angle information of the crane; an industrial computer 101, for receiving speed information of the crane and the bridge, as well as the distance information and the rotation angle information, and determining the offset angle of the crane main beam based on the distance information and the rotation angle information, cross-coupling the offset angle and the speed information to obtain a motor target current value, and inputting the motor target current value into a motor driver, so as to drive the motors on both sides of the bridge through the motor driver to perform servo control on the crane or the bridge.

[0048] The servo control system for bulk cargo overhead crane provided by the present invention can obtain the offset angle of the main beam caused by the asynchronous motors on both sides after fusing the rotation angle information obtained by the IMU sensor 102 and the distance measurement information fed back by the distance meters 103 on both sides of the bridge during the operation of the overhead crane, and input it into the cross-coupling system together with the speed information of the overhead crane and the bridge as an error, and perform cross-coupling processing to obtain the corrected motor target current value, which is input into the current loop of the motor controller corresponding to the servo motors on both sides to correct the deformation or distortion of the bridge caused by the asynchronous motors. The implementation of the cross-coupling control algorithm realizes the precise synchronous control of the motors on both sides during the operation of the bridge operating mechanism, reduces the imbalance on both sides, and reduces the wear of the equipment, thereby solving the technical problems of low overhead crane operation efficiency and severe wear of bridge equipment in the prior art and extending the service life of the equipment.

[0049] The present invention has the following beneficial effects: Improved positioning accuracy: The precise position of the overhead crane is obtained through multi-sensor fusion, which effectively solves the positioning deviation problem caused by uneven load distribution and improves the positioning accuracy of the bulk crane.

[0050] Enhanced operation stability: The control algorithm can adjust the system in real time according to the information fed back by the real-time sensors, effectively suppressing the impact of load disturbances and uncertain factors on system stability, and ensuring the stability of the overhead crane during operation.

[0051] Improved operating efficiency: Through real-time monitoring and control systems, repeated adjustments and repetitive operations caused by unstable operation and low positioning accuracy in traditional systems are effectively avoided, thereby improving the operating efficiency of the overhead crane.

[0052] Reduce equipment loss: The implementation of the cross-coupling control algorithm realizes the precise synchronous control of the motors on both sides during the operation of the trolley running mechanism, reduces the imbalance on both sides, reduces equipment wear, and extends the service life of the equipment.

[0053] The present invention also provides a servo control method for bulk cargo overhead crane, the method is applied to any of the above-mentioned systems, such as Figure 4 As shown, the method comprises: S401, collecting distance information between the distance meter 103 and the overhead travelling crane based on two distance meters 103; S402, collecting the rotation angle information of the overhead travelling crane based on the IMU sensor 102; S403, based on the industrial computer 101 receiving the speed information of the overhead crane and the bridge, as well as the distance information and the rotation angle information, and determining the offset angle of the overhead crane main beam based on the distance information and the rotation angle information, cross-coupling the offset angle and the speed information to obtain the motor target current value, and inputting the motor target current value into the motor driver, so as to drive the motors on both sides of the bridge through the motor driver to perform servo control on the overhead crane or the bridge.

[0054] In some embodiments, the servo control method for bulk cargo overhead crane further includes: Collecting load information of the spreader based on the load sensor 104; The industrial computer 101 receives the load information, inputs the load information and the distance information into a fuzzy PID module, obtains a fuzzy calculation result, and inputs the fuzzy calculation result into the motor driver to compensate for the steady-state error of the motor.

[0055] The servo control system and method for bulk overhead crane provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A servo control system for a bulk cargo overhead crane, characterized in that: include: Two distance meters are respectively arranged on both sides of the bridge of the overhead travelling crane, and are used to collect the distance information between the distance meter and the overhead travelling crane; IMU sensor, installed on the overhead crane, is used to collect the rotation angle information of the overhead crane; The industrial computer is used to receive the speed information of the overhead crane and the bridge, as well as the distance information and the rotation angle information, and determine the offset angle of the overhead crane main beam based on the distance information and the rotation angle information, cross-couple the offset angle and the speed information to obtain the motor target current value, and input the motor target current value into the motor driver to drive the motors on both sides of the bridge through the motor driver to perform servo control on the overhead crane or the bridge.

2. The servo control system for bulk cargo overhead crane according to claim 1, characterized in that: Also includes: The load sensor is installed on the lifting device of the overhead crane and is used to collect the load information of the lifting device; The industrial computer is also used to receive the load information, and input the load information and the distance information into a fuzzy PID module to obtain a fuzzy calculation result, and input the fuzzy calculation result into the motor driver to compensate for the steady-state error of the motor.

3. The servo control system for bulk cargo overhead crane according to claim 1, characterized in that: The motor includes: a first drive motor and a second drive motor; the first drive motor is used to drive the bridge frame to move, and the second drive motor is used to drive the overhead travelling machine to move; The motor driver includes: a first motor driver corresponding to the first drive motor and a second motor driver corresponding to the second drive motor.

4. The servo control system for bulk cargo overhead crane according to claim 3, characterized in that: Also includes: A first encoder is used to collect speed information of the bridge and send the speed information of the bridge to the industrial computer; The second encoder is used to collect speed information of the overhead crane and send the speed information of the overhead crane to the industrial computer.

5. The servo control system for bulk cargo overhead crane according to claim 4, characterized in that: The servo control system further comprises: The third drive motor is used to drive the grab bucket of the overhead crane to move; A third motor driver; The third encoder is used to collect the speed information of the grab bucket; The industrial computer is also used to receive speed information of the grab bucket, and output a corresponding current value to the third motor driver based on the speed information of the grab bucket, so as to control the operation of the third drive motor through the third motor driver.

6. The servo control system for bulk cargo overhead crane according to claim 5, characterized in that: The first motor driver, the second motor driver and the third motor driver are all connected to the industrial computer for communication via a CAN bus.

7. The servo control system for bulk cargo overhead crane according to claim 4, characterized in that: The industrial computer is further used to determine the current position of the overhead crane based on the distance information, and determine the target speed of the overhead crane based on the difference between the current position of the overhead crane and the target position, and output a corresponding current value to the second motor driver based on the target speed, so as to control the second drive motor to output power to the overhead crane according to the target speed through the second motor driver.

8. The servo control system for bulk cargo overhead crane according to any one of claims 1 to 7, characterized in that: The rangefinder is a laser rangefinder.

9. A servo control method for a bulk cargo overhead crane, characterized in that: The method is applied to the system according to any one of claims 1 to 8, and the method comprises: Based on two distance meters, the distance information between the distance meter and the overhead crane is collected; Collect the rotation angle information of the overhead crane based on the IMU sensor; The industrial computer receives the speed information of the overhead crane and the bridge, as well as the distance information and the rotation angle information, and determines the offset angle of the overhead crane main beam based on the distance information and the rotation angle information, cross-couples the offset angle and the speed information to obtain the motor target current value, and inputs the motor target current value into the motor driver, so as to drive the motors on both sides of the bridge through the motor driver to perform servo control on the overhead crane or the bridge.

10. The servo control method for bulk cargo overhead crane according to claim 9, characterized in that: Also includes: Collecting load information of the spreader based on the load sensor; The load information is received based on the industrial computer, and the load information and the distance information are input into the fuzzy PID module to obtain a fuzzy calculation result, and the fuzzy calculation result is input into the motor driver to compensate for the steady-state error of the motor.

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