Method for controlling inclination direction of main beam of bridge crane

Abstract

The invention provides a method for controlling the inclination direction of a main beam of a bridge crane, which belongs to the technical field of control, and is characterized in that through multi-sensor linkage, when the main beam of the bridge crane inclines, dynamic limitation is only allowed to run in a return direction, and operation suggestions are provided in combination with the angle state of a steel wire rope, so that the system safety and the operation guidance are improved. In addition, the scheme can be realized by relying on an existing control system architecture, large hardware does not need to be newly added, and good technical feasibility and generalization performance are achieved. The problem that an operator may continue controlling in the inclination intensifying direction is solved. Through the combination of the main beam inclination sensor and the data of the steel wire rope angle sensor, the control system can automatically limit the operation input of the dangerous direction when the main beam inclines, only allows a control instruction to move towards the balance recovery direction, and provides a clear direction prompt on the human-computer interface, thereby reducing the risk of continuous deterioration of the main beam inclination, and improving the safety of the main beam. And the operation safety is improved.

Description

Technical Field

[0001] The present invention belongs to the field of control technology, and in particular relates to a method for controlling the inclination direction of a bridge crane main beam. Background Art

[0002] A bridge crane is a type of lifting equipment used horizontally above workshops, warehouses, and material yards to lift materials. Because its ends rest on tall concrete columns or metal supports, it resembles a bridge. The bridge crane's girder runs longitudinally along tracks laid on elevated platforms on either side, fully utilizing the space beneath it to lift materials without being obstructed by ground-level equipment. It is the most widely used and numerous type of lifting machinery.

[0003] As for the detection of the main beam inclination of the bridge crane, as mentioned in the prior art solution in the patent announcement number "CN114363733B", the main beam inclination detection of the bridge crane is performed. Specifically, in the prior art, there is a risk of the main beam tilting in the front-to-back direction during the operation of the bridge crane. Usually a single tilt sensor is used to detect the main beam inclination, and once the angle exceeds the limit, only the alarm or emergency stop function is triggered. However, if the operator continues to execute the direction control instructions that cause the inclination to increase, it may further increase the stress of the mechanical structure and even cause the main beam to deform or the equipment to be damaged. In addition, the swing of the wire rope due to uneven load or the initial stage of lifting will also pose a hidden danger to the safety of the operation, but the current system does not have the ability to perform a linkage analysis of the two. Therefore, the existing bridge crane main beam inclination control method lacks a dynamic direction limitation function and cannot integrate multi-source sensor data to provide operation guidance feedback. Summary of the Invention

[0004] To address the shortcomings of the existing technology, this invention provides a method for controlling the tilt direction of a bridge crane's main beam, resolving the issue of operators continuing to control the crane in a direction where the tilt is exacerbating. By combining data from a main beam tilt sensor with data from a wire rope angle sensor, the control system automatically restricts input in dangerous directions when the main beam tilts, allowing only control commands to be executed in the direction of restoring balance. Clear directional indicators are also provided on the human-machine interface, reducing the risk of further deterioration of the main beam tilt and improving operational safety.

[0005] The present invention utilizes the following technical solutions.

[0006] A method for controlling the tilt direction of a bridge crane main beam, comprising:

[0007] Step 1: Perform tilt detection on the front and rear directions of the main beam of the bridge crane;

[0008] Step 2: Dynamically control the directional movement of the main beam of the bridge crane;

[0009] Step 3: Perform linkage control of the angle sensor of the wire rope of the bridge crane;

[0010] Step 4: Provide user feedback and interaction regarding the condition of the bridge crane main beam.

[0011] Furthermore, in step 1, tilt sensors are installed at the front locking door and rear locking door positions of the bridge crane main beam, respectively, for obtaining the front tilt angle data and rear tilt angle data of the bridge crane main beam in real time and transmitting them to the control system.

[0012] Furthermore, in step 1, the sensor communicates with the control system via the industrial bus.

[0013] Furthermore, in step 2, the control system analyzes the tilt angle data collected by the sensor in real time:

[0014] If the forward tilt angle data of the bridge crane main beam exceeds the threshold, forward operation is prohibited and only backward operation is allowed, thereby gradually adjusting the bridge crane main beam posture;

[0015] If the rearward tilt angle of the main beam exceeds the set upper limit, backward movement is also prohibited and only forward recovery operation is allowed.

[0016] Furthermore, in step 2, the prohibited direction control signal is directly shielded by the control system or the inverter output instruction connected to both the control system and the motor of the bridge crane is intervened to prevent the bridge crane from entering a state of aggravated tilt.

[0017] Furthermore, in step 3, a tilt sensor is installed at the end of the wire rope of the bridge crane to detect the angle of the wire rope deviating from the vertical line in real time and transmit it to the control system:

[0018] If the wire rope angle exceeds the allowable range, the control system analyzes the data based on the main beam tilt;

[0019] When both are in bad conditions at the same time, the speed of the bridge crane is reduced through the speed limit strategy, and the operator is prompted to adjust the direction first.

[0020] Furthermore, in step 4, the control system displays the tilt angle of the bridge crane main beam and the swing of the wire rope in real time through the human-machine interface:

[0021] Use visual bar graphs or digital labels to intuitively display the real-time status of the bridge crane main beam inclination angle and wire rope swing;

[0022] The human-machine interface marks the safe direction to guide the operator;

[0023] If the immediate status seriously exceeds the standard, the human intervention reminder mechanism will be activated.

[0024] Furthermore, step 2 also includes: the control system generates a direction limit position according to the excessive signal of the tilt sensor. When the bridge crane is in the state of excessive forward tilt of the main beam, the control system transmits the operation instruction of blocking the forward direction to the driving relay or frequency conversion controller of the bridge crane in the direction of the trolley:

[0025] If a forward operation code is received, the direction shielding mechanism will be triggered, the forward operation code will be ignored, and limit feedback will be sent to the HMI;

[0026] If a reverse operation signal is received, the low-speed mode is activated to reduce the impact force during adjustment;

[0027] At the same time, the direction restriction status flag is written into the operation logic block of the control system to prevent the bridge crane from continuing to move in the forward direction under dangerous inclination conditions.

[0028] Furthermore, step 2 also includes: deploying the same type of tilt sensor at the rear lock door position of the bridge crane to monitor the backward tilt angle of the bridge crane main beam and trigger the backward control lock when it exceeds the set backward tilt threshold, that is, in this state:

[0029] If the operator attempts to move backward, the control system will block the command signal;

[0030] If a forward operation signal is received, the control system will perform the action normally and correct the tilt trend using a directional displacement algorithm.

[0031] Furthermore, step 3 also includes: installing a rotatable angle detection device on the wire rope of the pulley of the bridge crane, which can actively identify the offset angle of the pulley sling in the x and y directions, with a maximum detection range of ±5.0° and a resolution of ±0.01°. The rotatable angle detection device detects the movement direction and stability of the sling in real time, and feeds back the collected data to the control system to obtain the deflection angle , combine the following rules to determine whether the car is allowed to move:

[0032] If the current sway direction of the spreader is consistent with the direction of operation of the bridge crane, and , the system restricts the permission to continue forward and only allows backward recovery;

[0033] If the tilt angle , then movement in any direction is not allowed and the system enters a global locked state.

[0034] Furthermore, step 4 also includes: when the control system detects that the forward tilt angle data of the bridge crane main beam exceeds the set value, it immediately starts the first-order sliding mode control function to perform calculation, and the calculation equation is:

[0035]

[0036] in, is the judgment value, is the real-time forward tilt angle of the main beam, The maximum allowable tilt value, that is, the set value, is determined to be in an unstable state when the judgment value is lower than the preset stability threshold. Otherwise, the bridge crane is in a stable state, and a control signal is generated to actively update the current operation authority through the electronic steering limit module. The auxiliary guidance link calculates the priority of the return action based on the PD compensation controller. :

[0037] 𝑢

[0038] in is the current angle deviation, is the angle change rate, 、 is the preset coefficient, .

[0039] The beneficial effects of the present invention are as follows:

[0040] This invention utilizes multi-sensor linkage to dynamically limit the crane's operation to the return direction when the main beam tilts. It also provides operational recommendations based on the wire rope angle, enhancing system safety and operational guidance. Furthermore, this solution can be implemented within the existing control system architecture, eliminating the need for additional large-scale hardware, demonstrating strong technical feasibility and scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flow chart of the method for controlling the tilt direction of the bridge crane main beam in the present invention. DETAILED DESCRIPTION

[0042] In existing technology, bridge cranes face the risk of their main beam tilting in the forward and backward directions during operation. Typically, a single tilt sensor is used to detect main beam tilt. Once the angle exceeds the limit, only an alarm or emergency stop function is triggered. However, if the operator continues to execute directional control commands that cause the tilt to worsen, this can further increase stress on the mechanical structure and even cause main beam deformation or equipment damage. Furthermore, wire rope swaying due to uneven loading or during the initial lifting phase can pose a safety concern, but current systems lack the ability to analyze both factors in a coordinated manner. Therefore, existing bridge crane main beam tilt control methods lack dynamic directional control capabilities and are unable to integrate multi-source sensor data to provide operational guidance feedback. The present invention utilizes multi-sensor linkage to dynamically limit operation to only the return direction when the main beam tilts. It also provides operational recommendations based on the wire rope angle status, improving system safety and operational guidance. Furthermore, this solution can be implemented within the existing control system architecture without the need for additional large-scale hardware, demonstrating strong technical feasibility and scalability. It addresses the issue of operators continuing to control in the direction of worsening tilt. By combining data from the main beam tilt sensor with the wire rope angle sensor, the control system can automatically limit operational inputs in dangerous directions when the main beam tilts, allowing control instructions to run only in the direction of restoring balance. At the same time, it provides clear directional prompts on the human-machine interface, thereby reducing the risk of further deterioration of the main beam tilt and improving operational safety.

[0043] To make the objectives, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely express the technical solutions of the present invention. The embodiments expressed in this application are only part of the embodiments of the present invention, not all of the embodiments. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without making creative work are all within the scope of protection of the present invention.

[0044] like Figure 1 As shown, a method for controlling the tilt direction of a bridge crane main beam includes:

[0045] Step 1: Perform tilt detection on the front and rear directions of the main beam of the bridge crane;

[0046] In a preferred but non-limiting embodiment of the present invention, in step 1, tilt sensors are respectively installed at the front locking door and rear locking door positions of the bridge crane main beam, for respectively obtaining the front tilt angle data and rear tilt angle data of the bridge crane main beam in real time and transmitting them to the control system.

[0047] In a preferred but non-limiting embodiment of the present invention, in step 1, the sensor communicates with the control system via an industrial bus to ensure signal stability and response speed.

[0048] Step 2: Dynamically control the directional movement of the main beam of the bridge crane;

[0049] In a preferred but non-limiting embodiment of the present invention, in step 2, the control system analyzes the tilt angle data collected by the sensor in real time:

[0050] If the forward tilt angle of the crane's main beam exceeds a threshold (e.g., 1.5°), forward operation is prohibited, and only backward operation is allowed, thereby gradually adjusting the crane's main beam's posture.

[0051] If the rearward tilt angle of the main beam exceeds the set upper limit (such as 1.5°), backward movement is also prohibited and only forward recovery operation is allowed.

[0052] In a preferred but non-limiting embodiment of the present invention, in step 2, the prohibited direction control signal is directly shielded by the control system (PLC) or the output instruction of the inverter connected to both the control system and the motor of the bridge crane is intervened to prevent the bridge crane from entering a state of aggravated tilt.

[0053] Step 3: Perform linkage control of the angle sensor of the wire rope of the bridge crane;

[0054] In a preferred but non-limiting embodiment of the present invention, in step 3, a highly sensitive tilt sensor is provided at the end of the wire rope of the bridge crane to detect the angle of the wire rope deviating from the vertical line in real time and transmit it to the control system:

[0055] If the wire rope angle exceeds the allowable range (e.g. ±2°), the control system analyzes the data based on the main beam tilt;

[0056] When both are in bad conditions at the same time, the speed of the bridge crane is reduced through the speed limit strategy, and the operator is prompted to adjust the direction first;

[0057] For example, when the main beam tilts forward and the wire rope swings to the right, it is recommended to perform the backward + left running compound operation first.

[0058] Step 4: Provide user feedback and interaction regarding the condition of the bridge crane main beam.

[0059] In a preferred but non-limiting embodiment of the present invention, in step 4, the control system displays the tilt angle of the bridge crane main beam and the swing of the wire rope (the angle of the wire rope deviating from the vertical line) in real time through the human-machine interface (HMI):

[0060] Use visual bar graphs or digital labels to intuitively display the real-time status of the bridge crane main beam inclination angle and wire rope swing (the angle of the wire rope deviating from the vertical line);

[0061] The human-machine interface marks the safe direction (such as "backward operation only") to guide the operator;

[0062] If the immediate status seriously exceeds the standard, the human intervention reminder mechanism (sound and light alarm + flashing button lock) will be activated;

[0063] The control system also records the operating data of the bridge crane main beam before entering the locked state to support subsequent analysis.

[0064] The technical effects are as follows:

[0065] This invention utilizes multi-sensor linkage to dynamically limit the crane's operation to the return direction when the main beam tilts. It also provides operational recommendations based on the wire rope angle, enhancing system safety and operational guidance. Furthermore, this solution can be implemented within the existing control system architecture, eliminating the need for additional large-scale hardware, demonstrating strong technical feasibility and scalability.

[0066] Specifically, the dynamic locking control of the crane's main girder's forward and backward tilt is based on three data sources: the crane's front locking door tilt sensor, the crane's rear locking door tilt sensor, and the crane's wire rope angle sensor. The core logic is that when the crane's main girder's forward or backward tilt exceeds a set safety threshold, the control system restricts the operator to returning the girder to the normal position, thereby preventing accidents caused by an imbalance in the crane's main girder center of gravity. Furthermore, the crane's wire rope angle monitoring helps determine whether the spreader is vertical, preventing misoperation.

[0067] The present invention expands upon the technical details of each step, including the use of the SAA302 sensor, support for international communication protocols, improved state determination accuracy through soft filtering, and control system software interception of operational command inputs. These refinements demonstrate the unique implementation of real-time feedback, direction restriction logic, and human-machine interactive prompts.

[0068] Furthermore, practical scenarios for this technology include situations where crane operators may be unable to determine the real-time position of the main girder and execute incorrect movement directions. Therefore, when the front locking door tilt exceeds a preset value, a multi-layered approach has been implemented, including directional control, safety recovery, PLC linkage, multi-sensor judgment, and audible and visual warnings. This completes the directional locking loop, further improving the control system's stability and operational guidance.

[0069] Now, we need to re-examine whether the original core logic has been successfully translated into specific implementation details, ensuring that no key items have been omitted. The implementation should also include data analysis triggering (e.g., using Mahalanobis distance detection) or a sliding mode controller to prevent system misjudgments. Furthermore, the program includes a soft-start region, ensuring that associated actions are executed only after deviations from the set range. Furthermore, the program integrates wire rope data to implement dual-conditional triggering of directional control shielding. This demonstrates both technological innovation and the intelligent implementation of a closed-loop control system. Combined with the aforementioned considerations, the present invention provides an advanced solution that fully meets practical expectations.

[0070] To summarize, the purpose of the present invention is to lock the operating direction in real time and prompt to return to the center based on dynamic judgment of the sensor, which involves corresponding feedback when the main beam of the bridge crane tilts forward or backward, and linkage control of abnormal angle of the wire rope of the bridge crane.

[0071] The detailed technical solutions of the present invention are as follows:

[0072] 1. Bridge crane main beam forward tilt angle collection and threshold judgment process:

[0073] A miniature MEMS gyroscope tilt sensor (e.g., ADIS16209) is installed on the locking door at the front end of the main beam. This sensor measures the main beam's forward tilt angle in real time and transmits the data to the PLC control module via the Modbus TCP protocol. The control system compares the data with a user-defined maximum forward tilt angle (e.g., +2.0°). If the real-time angle exceeds this value, the sensor outputs a forward tilt exceeding limit signal. The forward tilt angle data is stabilized using a first-order low-pass filter (update frequency 10Hz) to prevent malfunctions caused by short-term vibrations.

[0074] 2. The process of locking the forward operation of the bridge crane and linking it with the control system:

[0075] In a preferred but non-limiting embodiment of the present invention, step 2 further includes: the control system generates a direction limit position according to the exceeding signal of the tilt sensor. When the bridge crane is in the state of exceeding the main beam forward tilt, the control system transmits the operation instruction of blocking the forward direction to the driving relay or frequency conversion controller of the bridge crane in the trolley direction:

[0076] If a forward operation code is received (e.g., the analog control signal is greater than the "-0.1~0.1V" range and is positive), the direction shielding mechanism will be triggered, the forward operation code will be ignored, and limit feedback will be sent to the HMI;

[0077] If a backward operation signal (negative input signal) is received, the low-speed mode (i.e. 50% rated speed) is activated to reduce the impact force during adjustment;

[0078] At the same time, the direction restriction status flag is written into the operation logic block of the control system to prevent the bridge crane from continuing to move in the forward direction under dangerous inclination conditions.

[0079] 3. Main beam tilt detection and reverse control logic process:

[0080] In a preferred but non-limiting embodiment of the present invention, step 2 further includes: symmetrically with the forward tilt detection, a tilt sensor of the same type is deployed at the rear lock door position of the bridge crane to monitor the backward tilt angle of the bridge crane main beam and trigger the backward control lock when it exceeds a set backward tilt threshold (such as -2.0°). In this state:

[0081] If the operator attempts to move backward (the trolley backward control signal is greater than 0.1V), the control system will shield the command signal;

[0082] If a forward operation signal is received (the control voltage is positive and exceeds 0.1V), the control system will perform the action normally and correct the tilt trend with a high-precision directional displacement algorithm; the directional displacement algorithm can be a dynamic redirection control algorithm.

[0083] This logic and the forward tilt control together constitute a two-way differentiated dynamic control model, providing strategic support for the tilt recovery of the bridge crane.

[0084] 4. Wire rope deflection angle monitoring process:

[0085] In a preferred but non-limiting embodiment of the present invention, step 3 further includes: installing a rotatable angle detection device (such as Revolution Tilt Sensor RTS-430) on the wire rope of the pulley of the bridge crane, which can actively identify the offset angle of the pulley sling in the x and y directions, with a maximum detection range of ±5.0° and a resolution of ±0.01°. The rotatable angle detection device detects the movement direction and stability of the sling in real time, and feeds back the collected data to the control system to obtain the deflection angle. , combine the following rules to determine whether the car is allowed to move:

[0086] If the current yaw direction of the spreader is consistent with the running direction of the bridge crane (for example is forward and the bridge crane is running forward), and , the system restricts the permission to continue forward and only allows backward recovery;

[0087] If the tilt angle , then movement in any direction is not allowed and the system enters a global locked state.

[0088] This associated control is embedded in the main PLC logic block through the slider posture compensation logic to achieve linkage adjustment of the main beam and wire rope posture.

[0089] 5. Human-computer interaction and operation guidance process:

[0090] The touch screen interface communicates with the PLC based on the OPC UA protocol, and displays the current main beam angle and wire rope swing data in real time, and gives prompts for executable directions. When the main beam tilts forward beyond the standard, the system interface flashes a prompt "The current forward tilt angle has exceeded the upper limit, please select the backward direction"; if the main beam tilts backward beyond the standard, it displays "Please operate forward to restore the main beam posture." When the wire rope swing angle is 15° below the reference line, the HMI prompts "The hoist is unstable, please suspend movement and observe the hoisted object." The interface also sets an adjustable alarm level and a direction lock threshold setting window to facilitate users to set different sensitivity standards according to the working environment. After each safe posture is restored, the system records the tilt peak and direction handling time to form an operation log for subsequent analysis.

[0091] 6.Safety locking and dynamic guidance algorithm process:

[0092] In a preferred but non-limiting embodiment of the present invention, step 4 further includes: the control system adopts a dynamic safety locking algorithm based on sliding mode control, and when it is detected that the forward tilt angle data of the bridge crane main beam exceeds the set value, the first-order sliding mode control function is immediately started to perform calculation, and the calculation equation is:

[0093]

[0094] in, is the judgment value, is the real-time forward tilt angle of the main beam, The maximum allowable tilt value, that is, the set value, is determined to be in an unstable state when the judgment value is lower than the preset stability threshold, otherwise the bridge crane is in a stable state. The calculation equation determines whether the bridge crane is in an unstable state and generates a control signal to actively update the current operation authority through the electronic steering limit module. The auxiliary guidance link calculates the priority of the return action based on the PD compensation controller. :

[0095] 𝑢

[0096] in is the current angle deviation, is the angle change rate, 、 is the preset coefficient, The PLC transmits the direction guidance priority signal to the touch screen's vector direction indicator, providing dynamic direction recovery suggestions.

[0097] In summary, this solution implements symmetrical control of the forward and backward inclination of the main beam, combines the wire rope posture data to dynamically limit dangerous operation directions, and realizes efficient and safe intervention of the bridge crane system in complex operating environments.

[0098] The beneficial effects of the present invention are as follows:

[0099] This invention utilizes multi-sensor linkage to dynamically limit the crane's operation to the return direction when the main beam tilts. It also provides operational recommendations based on the wire rope angle, enhancing system safety and operational guidance. Furthermore, this solution can be implemented within the existing control system architecture, eliminating the need for additional large-scale hardware, demonstrating strong technical feasibility and scalability.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not deviate from the spirit and scope of the present invention should be covered within the protection space of the claims of the present invention.

Claims

1. A method for controlling the tilt direction of a bridge crane main beam, characterized in that: include: Step 1: Perform tilt detection on the front and rear directions of the main beam of the bridge crane; Step 2: Dynamically control the directional movement of the main beam of the bridge crane; Step 3: Perform linkage control of the angle sensor of the wire rope of the bridge crane; Step 4: Provide user feedback and interaction regarding the condition of the bridge crane main beam.

2. The method for controlling the tilt direction of the bridge crane main beam according to claim 1, characterized in that: In step 1, tilt sensors are installed at the front locking door and rear locking door positions of the bridge crane main beam, respectively, to obtain the front tilt angle data and rear tilt angle data of the bridge crane main beam in real time and transmit them to the control system.

3. The method for controlling the tilt direction of the bridge crane main beam according to claim 2, characterized in that: In step 1, the sensor communicates with the control system via the industrial bus.

4. The method for controlling the tilt direction of the bridge crane main beam according to claim 3, characterized in that: In step 2, the control system analyzes the tilt angle data collected by the sensor in real time: If the forward tilt angle data of the bridge crane main beam exceeds the threshold, forward operation is prohibited and only backward operation is allowed, thereby gradually adjusting the bridge crane main beam posture; If the rearward tilt angle of the main beam exceeds the set upper limit, backward movement is also prohibited and only forward recovery operation is allowed.

5. The method for controlling the tilt direction of the bridge crane main beam according to claim 4, characterized in that: In step 2, the prohibited direction control signal is directly shielded by the control system or the inverter output command connected to both the control system and the motor of the bridge crane is intervened to prevent the bridge crane from entering a state of aggravated tilt.

6. The method for controlling the tilt direction of the bridge crane main beam according to claim 5, characterized in that: In step 3, a tilt sensor is installed at the end of the wire rope of the bridge crane to detect the angle of the wire rope deviating from the vertical line in real time and transmit it to the control system: If the wire rope angle exceeds the allowable range, the control system analyzes the data based on the main beam tilt; When both are in bad conditions at the same time, the speed of the bridge crane is reduced through the speed limit strategy, and the operator is prompted to adjust the direction first.

7. The method for controlling the tilt direction of the bridge crane main beam according to claim 6, characterized in that: In step 4, the control system displays the tilt angle of the bridge crane main beam and the swing of the wire rope in real time through the human-machine interface: Use visual bar graphs or digital labels to intuitively display the real-time status of the bridge crane main beam inclination angle and wire rope swing; The human-machine interface marks the safe direction to guide the operator; If the immediate status seriously exceeds the standard, the human intervention reminder mechanism will be activated.

8. The method for controlling the tilt direction of the bridge crane main beam according to claim 7, characterized in that: Step 2 also includes: the control system generates a direction limit position according to the excessive signal of the tilt sensor. When the bridge crane is in the state of excessive forward tilt of the main beam, the control system transmits the operation instruction of blocking the forward direction to the driving relay or frequency conversion controller of the bridge crane's trolley direction: If a forward operation code is received, the direction shielding mechanism will be triggered, the forward operation code will be ignored, and limit feedback will be sent to the HMI; If a reverse operation signal is received, the low-speed mode is activated to reduce the impact force during adjustment; At the same time, the direction restriction status flag is written into the operation logic block of the control system to prevent the bridge crane from continuing to move in the forward direction under dangerous inclination conditions.

9. The method for controlling the tilt direction of the bridge crane main beam according to claim 8, characterized in that: Step 2 also includes: deploying the same type of tilt sensor at the rear lock door position of the bridge crane to monitor the backward tilt angle of the bridge crane main beam and trigger the backward control lock when it exceeds the set backward tilt threshold. In this state: If the operator attempts to move backward, the control system will block the command signal; If a forward operation signal is received, the control system will perform the action normally and correct the tilt trend using a directional displacement algorithm.

10. The method for controlling the tilt direction of a bridge crane main beam according to claim 9, characterized in that: Step 3 also includes: installing a rotatable angle detection device on the wire rope of the bridge crane pulley, which can actively identify the offset angle of the pulley hoist in the x and y directions, with a maximum detection range of ±5.0° and a resolution of ±0.01°. The rotatable angle detection device detects the movement direction and stability of the hoist in real time, and feeds back the collected data to the control system to obtain the deflection angle. , combine the following rules to determine whether the car is allowed to move: If the current sway direction of the spreader is consistent with the direction of operation of the bridge crane, and , the system restricts the permission to continue forward and only allows backward recovery; If the tilt angle , then no movement in any direction is allowed and the system enters a global locked state; Step 4 also includes: when the control system detects that the forward tilt angle data of the bridge crane main beam exceeds the set value, it immediately starts the first-order sliding mode control function to perform calculations. The calculation equation is:

11. Among them, is the judgment value, is the real-time forward tilt angle of the main beam, The maximum allowable tilt value, that is, the set value, is determined to be in an unstable state when the judgment value is lower than the preset stability threshold. Otherwise, the bridge crane is in a stable state, and a control signal is generated to actively update the current operation authority through the electronic steering limit module. The auxiliary guidance link calculates the priority of the return action based on the PD compensation controller. : 𝑢 in is the current angle deviation, is the angle change rate, 、 is the preset coefficient, .

Images