Active anti-swing torque control method for full-function trolley container gantry crane
By using an active anti-sway torque control method, and by using an anti-sway device and encoder to calculate the anti-sway torque model in real time, the problems of short service life of wire ropes and long anti-sway adjustment time in full-function trolley container gantry cranes are solved, achieving better anti-sway effect and longer wire rope life.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANGHAI ZHENHUA HEAVY IND
- Filing Date
- 2023-09-26
- Publication Date
- 2026-06-12
AI Technical Summary
Existing anti-sway measures for full-function trolley container gantry cranes suffer from problems such as short wire rope lifespan and long anti-sway adjustment time.
An active anti-sway torque control method is adopted. The parameters of the lifting device are obtained through the anti-sway device, the anti-sway torque model of the trolley and the crane is calculated, and the calculation results are transmitted to the frequency converter. The anti-sway function is realized by using four anti-sway auxiliary motors and wire rope drums, and real-time control is achieved by combining encoders and weight sensors.
It improves the anti-sway effect, extends the service life of the wire rope, and reduces the anti-sway adjustment time.
Smart Images
Figure CN117303205B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technology of a full-function trolley container gantry crane, and more specifically, to an active anti-sway torque control method for a full-function trolley container gantry crane. Background Technology
[0002] In recent years, full-function trolley cranes have been increasingly promoted and applied to container gantry cranes (such as tire-mounted cranes and rail-mounted cranes) in port backyards. A full-function trolley has two sets of rope systems: a main wire rope and an auxiliary wire rope. The main wire rope provides the lifting function, while the auxiliary wire rope is responsible for anti-sway and micro-motion (spreader attitude control) functions.
[0003] The anti-sway function of a full-function trolley refers to how to rapidly reduce the rotational speed of the cargo around the suspension point to zero. To achieve this, active anti-swaying can be used, which involves using an auxiliary steel wire rope to perform negative work on the system. Alternatively, based on dynamic analysis, a dynamic torque control method for the auxiliary steel wire rope can be developed to achieve efficient anti-swaying. Existing anti-swaying measures mainly fall into two categories:
[0004] 1) Anti-sway is achieved through an eight-rope mechanical structure, with the wire rope in a triangular shape. However, its disadvantages include: stress exists, which can easily cause metal fatigue, resulting in a shorter service life for the wire rope.
[0005] 2) Anti-swaying is achieved by moving the small trolley and the large trolley. However, its disadvantage is that the anti-swaying adjustment time is long. Summary of the Invention
[0006] In view of the above-mentioned defects in the existing technology, the purpose of this invention is to provide an active anti-sway torque control method for a full-function trolley container gantry crane, which makes the anti-sway effect better and extends the service life of the wire rope.
[0007] To achieve the above objectives, the present invention adopts the following technical solution:
[0008] An active anti-sway torque control method for a full-function trolley container gantry crane includes the following steps:
[0009] S1. Obtain the lifting gear parameters through the anti-sway device;
[0010] S2. Determine whether the current operation is a large vehicle or a small vehicle. If it is a large vehicle, proceed to step S3; if it is a small vehicle, proceed to step S4.
[0011] S3. Calculate the anti-sway torque model of the large vehicle and transmit the calculated torque value to the strain gauge.
[0012] S4. Calculate the anti-sway torque model of the trolley and transmit the calculated torque value to the corresponding strain gauge.
[0013] Preferably, the anti-sway device includes four anti-sway auxiliary motors, four anti-sway wire rope drums, and four anti-sway wire ropes;
[0014] The four anti-sway auxiliary motors are respectively located above the four corners of the lifting device;
[0015] Each of the anti-sway auxiliary motors is connected to the corresponding anti-sway wire rope drum;
[0016] One end of each of the four anti-sway wire ropes is fixed to one of the four corners of the lifting device, and the other end is wound around the anti-sway wire rope drum via guide pulleys.
[0017] The anti-sway auxiliary motor is a three-in-one anti-sway auxiliary motor, which is a motor, reducer and brake integrated into one unit.
[0018] The output side of the motor is connected to the reducer, and the reducer is connected to the corresponding anti-sway wire rope drum;
[0019] The motor is equipped with an encoder.
[0020] Preferably, step S1 includes:
[0021] The weight m of the lifting device is measured by the driver of the main hoisting motor and the weight sensor on the trolley frame;
[0022] The speed feedback S of the anti-sway auxiliary motor is measured by the encoder on the motor. aux ;
[0023] The vertical distance l0 between the center of the anti-sway wire rope drum and the center of the upper pulley is measured by the encoder on the motor.
[0024] Preferably, step S3 specifically includes:
[0025] The anti-sway torque model for large vehicles includes an anti-sway auxiliary motor tightening model, an anti-sway auxiliary motor tensioning model, and an anti-sway auxiliary motor holding torque model.
[0026] The anti-sway auxiliary motor tightening model is defined as GF1, and the calculated tightening torque value is transmitted to the strain frequency converter.
[0027] The anti-sway auxiliary motor tensioning model is defined as GF2, and the calculated tensioning torque value is transmitted to the strain frequency converter.
[0028] The holding torque model of the anti-sway auxiliary motor is defined as GF3, and the holding torque value is calculated.
[0029] Preferably, step S4 specifically includes:
[0030] The anti-sway torque model of the car includes the anti-sway auxiliary motor tightening model, the anti-sway auxiliary motor tensioning model, and the anti-sway auxiliary motor holding torque model;
[0031] The anti-sway auxiliary motor tightening model is defined as TF1, and the calculated tightening torque value is transmitted to the strain frequency converter.
[0032] The anti-sway auxiliary motor tensioning model is defined as TF2, and the calculated tensioning torque value is transmitted to the strain frequency converter.
[0033] The holding torque model of the anti-sway auxiliary motor is defined as TF3, and the holding torque value is calculated.
[0034] Preferably, the anti-sway auxiliary motor tightening models TF1 and GF1 are as follows:
[0035] When the trolley is running, the anti-sway auxiliary motor tightening model TF1 is as follows:
[0036]
[0037] Introducing anti-sway auxiliary motor speed feedback S aux ;
[0038]
[0039] When the trolley is running, the anti-sway auxiliary motor tightening model GF1 is as follows:
[0040]
[0041] Introducing anti-sway auxiliary motor speed feedback S aux ;
[0042]
[0043] In the above formula, m represents the weight of the lifting device, l0 represents the vertical distance between the center of the anti-sway wire rope drum and the center of the upper pulley, b1 represents the distance between the centers of the anti-sway auxiliary wire rope drum along the trolley's running direction, b2 represents the distance between the centers of the anti-sway auxiliary wire rope drum along the trolley's running direction, c1 represents the distance between the upper pulleys of the anti-sway auxiliary wire rope along the trolley's running direction, c2 represents the distance between the upper pulleys of the anti-sway auxiliary wire rope along the trolley's running direction, i represents the reduction ratio of the reducer on the anti-sway auxiliary motor, dr represents the diameter of the anti-sway auxiliary wire rope drum, n represents the pulley ratio of the anti-sway auxiliary wire rope, and g represents the acceleration due to gravity.
[0044] Preferably, the anti-sway auxiliary motor tensioning models TF2 and GF2 are as follows:
[0045]
[0046] Preferably, the anti-sway auxiliary motor holding torque models TF3 and GF3 are as follows:
[0047]
[0048] Preferably, if the large vehicle and the small vehicle are running simultaneously, proceed to step S3.
[0049] The present invention provides an active anti-sway torque control method for a full-function trolley container gantry crane. Based on a mechanical model, the anti-sway torque is decomposed into: an anti-sway auxiliary motor tensioning force model (GF1, TF1), an anti-sway auxiliary motor tensioning force model (GF2, TF2), and an anti-sway auxiliary motor holding torque mode (GF3, TF3). Each torque model is related to the crane's load weight, spatial geometry, wire rope length, and wire rope speed, resulting in better anti-sway performance and a longer wire rope service life. Attached Figure Description
[0050] Figure 1 This is a flowchart illustrating the active anti-sway torque control method of the present invention;
[0051] Figure 2 This is a schematic diagram of the anti-sway device in the active anti-sway torque control method of the present invention;
[0052] Figure 3 This is a schematic diagram of the measurement parameters in the active anti-sway torque control method of the present invention. (a) is the front view, (b) is the side view, and (c) is the top view.
[0053] Figure 4 This is a schematic diagram showing the naming and direction definition of the four anti-sway auxiliary motors in the active anti-sway torque control method of the present invention;
[0054] Figure 5 This is a schematic diagram of the state of a single anti-sway auxiliary motor in the active anti-sway torque control method of the present invention;
[0055] Figure 6 This is a schematic diagram of the speed feedback and torque setting curves of the four anti-sway auxiliary motors in the active anti-sway torque control method of the present invention. Detailed Implementation
[0056] To better understand the above-mentioned technical solutions of the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0057] Combination Figure 1 As shown, the active anti-sway torque control method for a full-function trolley container gantry crane provided by the present invention includes the following steps:
[0058] S1. Obtain the lifting gear parameters through the anti-sway device;
[0059] S2. Determine whether the current operation is a large vehicle or a small vehicle. If it is a large vehicle, proceed to step S3; if it is a small vehicle, proceed to step S4.
[0060] S3. Calculate the anti-sway torque model of the large vehicle and transmit the calculated torque value to the strain gauge.
[0061] S4. Calculate the anti-sway torque model of the trolley and transmit the calculated torque value to the corresponding strain gauge.
[0062] Combination Figure 2 As shown,
[0063] The anti-sway device includes four anti-sway auxiliary motors 1, 2, 3, and 4, four anti-sway wire rope drums 11, and four anti-sway wire ropes 5, 6, 7, and 8.
[0064] The four anti-sway auxiliary motors 1, 2, 3, and 4 correspond to the four corner positions above the lifting device 9.
[0065] Each anti-sway auxiliary motor 1, 2, 3, 4 is connected to the corresponding anti-sway wire rope drum 11.
[0066] One end of each of the four anti-sway wire ropes 5, 6, 7, and 8 is fixed to one of the four corners of the lifting device 9, and the other end is wound around the anti-sway wire rope drum 11 via guide pulleys.
[0067] Anti-sway auxiliary motors 1, 2, 3, and 4 all adopt a three-in-one anti-sway auxiliary motor, which is a motor, reducer, and brake integrated into one unit.
[0068] The output side of the motor is connected to a reducer, and the reducer is connected to the corresponding anti-sway wire rope drum 11.
[0069] An encoder is installed on the motor.
[0070] The weight sensor is mounted on the trolley frame, with one end connected to the lifting steel wire rope 10.
[0071] Step S1 above includes:
[0072] The weight m of the lifting device is measured by the driver of the main hoisting motor and the weight sensor on the trolley frame;
[0073] The speed feedback S of the anti-sway auxiliary motors 1, 2, 3, and 4 is measured by the encoder on the motor. aux ;
[0074] The vertical distance l0 between the center of the anti-sway wire rope drum 11 and the center of the upper pulley is measured by the encoder on the motor.
[0075] The above step S3 specifically includes:
[0076] The anti-sway torque model for large vehicles includes an anti-sway auxiliary motor tightening model, an anti-sway auxiliary motor tensioning model, and an anti-sway auxiliary motor holding torque model.
[0077] The anti-sway auxiliary motor tightening model is defined as GF1, and the calculated tightening torque value is transmitted to the strain frequency converter.
[0078] The anti-sway auxiliary motor tensioning model is defined as GF2, and the calculated tensioning torque value is transmitted to the strain frequency converter.
[0079] The holding torque model of the anti-sway auxiliary motor is defined as GF3, and the holding torque value is calculated.
[0080] The above step S4 specifically includes:
[0081] The anti-sway torque model of the car includes the anti-sway auxiliary motor tightening model, the anti-sway auxiliary motor tensioning model, and the anti-sway auxiliary motor holding torque model;
[0082] The anti-sway auxiliary motor tightening model is defined as TF1, and the calculated tightening torque value is transmitted to the strain frequency converter.
[0083] The anti-sway auxiliary motor tensioning model is defined as TF2, and the calculated tensioning torque value is transmitted to the strain frequency converter.
[0084] The holding torque model of the anti-sway auxiliary motor is defined as TF3, and the holding torque value is calculated.
[0085] The anti-sway auxiliary motor tightening models TF1 and GF1 are as follows:
[0086] When the trolley is running, the anti-sway auxiliary motor tightening model TF1 is as follows:
[0087]
[0088] Introducing anti-sway auxiliary motor speed feedback S aux ;
[0089]
[0090] When the trolley is running, the anti-sway auxiliary motor tightening model GF1 is as follows:
[0091]
[0092] Introducing anti-sway auxiliary motor speed feedback S aux ;
[0093]
[0094] Combination Figure 3As shown in the formula above, m represents the mass of the spreader (uplift + spreader + container), which is a variable between 11.8 and 51.8 tons.
[0095] l0 represents the vertical distance (m) between the center of the anti-sway wire rope drum and the center of the upper pulley. The actual value is related to the current lifting position and is a variable, ranging from 4.6 to 24.35m.
[0096] b1 represents the distance (m) between the centers of the anti-sway auxiliary wire rope drum along the trolley's running direction (x direction);
[0097] b2 represents the distance (m) between the centers of the anti-sway auxiliary wire rope drum along the direction of the trolley's travel (z-direction);
[0098] c1 represents the spacing (m) of the upper pulleys of the anti-sway auxiliary steel wire rope along the direction of the trolley's movement (x direction);
[0099] c2 represents the spacing (m) of the upper pulleys of the anti-sway auxiliary steel wire rope along the direction of the trolley's travel (z direction);
[0100] i represents the reduction ratio of the reducer on the anti-sway auxiliary motor;
[0101] dr indicates the diameter (m) of the anti-sway auxiliary wire rope drum;
[0102] n represents the anti-sway auxiliary wire rope pulley ratio;
[0103] g represents the acceleration due to gravity (9.8 m / s²). 2 );
[0104] S aux This indicates the anti-shake motor speed feedback (0% to 100%).
[0105] When the anti-sway auxiliary motor tensioning models TF2 and GF2 are used in the anti-sway process, the spatial distance between the anti-sway auxiliary motor and the load shortens when the load swings close to one side of the anti-sway auxiliary motor. If the anti-sway wire rope is not tightened in time, it may cause the anti-sway wire rope to derail. Therefore, a tensioning torque must be set to ensure that the wire rope does not derail.
[0106] Assuming the mass per unit length of the anti-sway wire rope is m0 (kg / m), the tensioning model TF2 or GF2 of a single anti-sway auxiliary motor is as follows:
[0107]
[0108] In the above formula, 0.9 is a constant; 4.7925 can be fine-tuned according to the actual project.
[0109] The anti-sway auxiliary motor maintaining torque models TF3 and GF3 are applied to the tension state of the wire rope after the swing amplitude of the suspended load is 100mm when the running mechanism stops. The purpose is to prevent the wire rope from continuously drooping due to its own weight.
[0110] Assuming the mass per unit length of the anti-sway wire rope is m0 (kg / m), the maintaining torque model TF3 or GF3 of a single anti-sway auxiliary motor is as follows:
[0111]
[0112] In the above formula, 0.6 is a constant; 4.7925 can be finely adjusted according to the actual project.
[0113] If the large vehicle and the small vehicle are running simultaneously in step S2 above, then proceed to step S3.
[0114] Combination Figure 4 and Figure 5 As shown, the operating conditions of anti-sway auxiliary motors 1, 2, 3, and 4 are as follows:
[0115] There are two states when the trolley is moving forward, and these two states are directly related to the working state of the anti-sway auxiliary motor.
[0116] [1]Status 1: When the Spreader swings clockwise:
[0117] Aux Motor1 and Aux Motor2: Torque is calculated using the TF2 model and parameters;
[0118] Aux Motor3 and Aux Motor4: Torque is calculated using the TF1 model and parameters.
[0119] [2]Status3: When the Spreader swings counterclockwise:
[0120] Aux Motor1 and Aux Motor2: Torque is calculated using the TF1 model and parameters;
[0121] Aux Motor3 and Aux Motor4: Torque is calculated using the TF2 model and parameters.
[0122] Once the anti-sway function is stable, status 2 indicates that the Spreader is directly below the Trolley (with a ±25mm deviation between the spreader and the trolley):
[0123] Aux Motor1 and Aux Motor2: Torque is calculated using the TF3 model and parameters;
[0124] Aux Motor3 and Aux Motor4: Torque is calculated using the TF3 model and parameters.
[0125] The output curves for speed feedback and torque setting of the four anti-sway auxiliary motors 1, 2, 3, and 4 are as follows: Figure 6 As shown.
[0126] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any variations or modifications to the above embodiments that are within the spirit and essence of the present invention will fall within the scope of the claims of the present invention.
Claims
1. A method for active anti-sway torque control of a full-function trolley container gantry crane, characterized in that, Includes the following steps: S1. Obtain the lifting gear parameters through the anti-sway device. The anti-sway device includes four anti-sway auxiliary motors, four anti-sway wire rope drums, and four anti-sway wire ropes. The four anti-sway auxiliary motors are respectively located above the four corners of the lifting device; Each of the anti-sway auxiliary motors is connected to the corresponding anti-sway wire rope drum; One end of each of the four anti-sway wire ropes is fixed to one of the four corners of the lifting device, and the other end is wound around the anti-sway wire rope drum via guide pulleys. The anti-sway auxiliary motor is a three-in-one anti-sway auxiliary motor, which is a motor, reducer and brake integrated into one unit. The output side of the motor is connected to the reducer, and the reducer is connected to the corresponding anti-sway wire rope drum; The motor is equipped with an encoder. Step S1 includes: The weight of the lifting device is measured by the driver of the main hoisting motor and the weight sensor on the trolley frame. ; The speed feedback of the anti-sway auxiliary motor is measured by the encoder on the motor. ; The vertical distance from the center of the anti-sway wire rope drum to the center of the upper pulley is measured by the encoder on the motor. ; S2. Determine whether the current operation is a large vehicle or a small vehicle. If it is a large vehicle, proceed to step S3; if it is a small vehicle, proceed to step S4. S3. Calculate the anti-sway torque model of the main vehicle and transmit the calculated torque value to the corresponding strain frequency converter. Specifically, this includes: The anti-sway torque model for large vehicles includes an anti-sway auxiliary motor tightening model, an anti-sway auxiliary motor tensioning model, and an anti-sway auxiliary motor holding torque model. The anti-sway auxiliary motor tightening model is defined as GF1, and the calculated tightening torque value is transmitted to the strain frequency converter. The anti-sway auxiliary motor tensioning model is defined as GF2, and the calculated tensioning torque value is transmitted to the strain frequency converter. The holding torque model of the anti-sway auxiliary motor is defined as GF3, and the holding torque value is calculated. S4. Calculate the anti-sway torque model of the trolley and transmit the calculated torque value to the corresponding strain frequency converter. Specifically, this includes: The anti-sway torque model of the car includes the anti-sway auxiliary motor tightening model, the anti-sway auxiliary motor tensioning model, and the anti-sway auxiliary motor holding torque model; The anti-sway auxiliary motor tightening model is defined as TF1, and the calculated tightening torque value is transmitted to the strain frequency converter. The anti-sway auxiliary motor tensioning model is defined as TF2, and the calculated tensioning torque value is transmitted to the strain frequency converter. The holding torque model of the anti-sway auxiliary motor is defined as TF3, and the holding torque value is calculated. The anti-sway auxiliary motor tightening models TF1 and GF1 are as follows: When the trolley is running, the anti-sway auxiliary motor tightening model TF1 is as follows: ； Introducing anti-sway auxiliary motor speed feedback ; Unit: Nm; When the trolley is running, the anti-sway auxiliary motor tightening model GF1 is as follows: ； Introducing anti-sway auxiliary motor speed feedback ; ； In the above formula, Indicates the weight of the lifting gear. This indicates the vertical distance between the center of the anti-sway wire rope drum and the center of the upper pulley. This indicates the spacing between the centers of the anti-sway auxiliary wire rope drum along the direction of trolley travel. This indicates the spacing between the centers of the anti-sway auxiliary wire rope drums along the direction of the trolley's travel. This indicates the spacing between the pulleys on the anti-sway auxiliary wire rope along the direction of the trolley's movement. This indicates the spacing between the pulleys on the anti-sway auxiliary wire rope along the direction of the trolley's travel. This indicates the reduction ratio of the reducer on the anti-sway auxiliary motor. This indicates the diameter of the anti-sway auxiliary wire rope drum. This indicates the pulley ratio of the anti-sway auxiliary wire rope. It represents the acceleration due to gravity.
2. The active anti-sway torque control method for a full-function trolley container gantry crane according to claim 1, characterized in that, The anti-sway auxiliary motor tensioning models TF2 and GF2 are as follows: 。 3. The active anti-sway torque control method for a full-function trolley container gantry crane according to claim 1, characterized in that, The anti-sway auxiliary motor holding torque models TF3 and GF3 are as follows: 。 4. The active anti-sway torque control method for a full-function trolley container gantry crane according to claim 1, characterized in that: If the large vehicle and the small vehicle are running simultaneously, proceed to step S3.