Crane control system and method based on multi-drive function redundancy

Abstract

The invention provides a crane control system and method based on multi-drive function redundancy, and relates to the technical field of hoisting equipment control, the crane control system comprises a PLC controller, a multi-drive function redundancy channel selection device and a multi-drive redundancy device; the multi-drive function redundant channel selection device comprises a lifting driver redundancy, a cart driver redundancy, a lifting and cart shared redundancy, a trolley driver redundancy and a lifting appliance micro-motion driver redundancy; the multi-drive redundant device comprises a hoisting mechanism, a cart mechanism, a trolley mechanism, a lifting appliance micro-motion mechanism, a contactor, a contactor relay and a thermomagnetic circuit breaker, and the PLC is electrically connected with the multi-drive function redundancy selection device and the dynamic redundancy device. By adding the multi-drive function redundancy channel selection device and the function redundancy contactors among the multiple drives, the drive redundancy capacity among the mechanisms of the equipment is greatly improved, and meanwhile, the stability and efficiency of wharf production operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting equipment control, and in particular to a crane control system and method based on multi-drive function redundancy. Background Art

[0002] At present, large-scale port lifting equipment is increasingly developing in the direction of multi-operation and one machine with multiple functions. These lifting equipment undertake heavy lifting tasks day after day. In high-load, uninterrupted operation, tons of cargo are unloaded from ships or loaded onto ships, ensuring the smooth progress of transportation and trade. These lifting equipment are usually equipped with advanced electrical drive systems, including motors, inverters, controllers, etc., to achieve precise and efficient operation. At the same time, they also rely on complex sensor systems and mechanical mechanisms to ensure safe and stable operation. Due to the long-term high-load operation of lifting equipment, coupled with the influence of its operating environment, service life and maintenance level, it is often encountered that the electrical drive of the equipment is suddenly damaged or a difficult failure occurs during loading and unloading operations and cannot be handled in time. At this time, the equipment is hoisting cargo, but it cannot operate due to the failure of the drive of the equipment-related mechanism, and the replacement and maintenance cycle of the drive device is long, which makes the equipment maintenance personnel at a loss, the terminal production scheduling is passive, and even delays the ship schedule, which greatly affects transportation and trade. Summary of the invention

[0003] In view of this, the present invention proposes a crane control system and method based on multi-drive function redundancy.

[0004] The technical solution of the present invention is achieved in this way:

[0005] The first aspect of the present invention provides a crane control system based on multi-drive function redundancy, comprising: a PLC controller, a multi-drive function redundancy channel selection device and a multi-drive redundancy device;

[0006] The multi-drive function redundant channel selection device includes lifting drive redundancy, trolley drive redundancy, lifting and trolley shared redundancy, trolley drive redundancy and spreader micro-motion drive redundancy;

[0007] The multi-drive redundant device includes a lifting mechanism, a trolley mechanism, a small trolley mechanism, a sling micro-motion mechanism, and corresponding contactors, contactor relays, and thermal magnetic circuit breakers.

[0008] The PLC controller is electrically connected to the multi-drive function redundant channel selection device and the multi-drive redundant device.

[0009] On the basis of the above technical solution, preferably, the lifting drivers corresponding to the different lifting mechanisms are redundant with each other;

[0010] The main contact input end of the contactor of the lifting mechanism is electrically connected to the output end of the lifting driver in three phases, and the main contact output end is electrically connected to the three-phase control terminal of the motor of the lifting mechanism.

[0011] On the basis of the above technical solution, preferably, the lifting mechanism includes a first lifting mechanism and a second lifting mechanism;

[0012] The driver of the first lifting mechanism redundantly drives the motor of the second lifting mechanism through contactor switching, or the driver of the second lifting mechanism redundantly drives the motor of the first lifting mechanism through contactor switching.

[0013] On the basis of the above technical solution, preferably, the trolley drivers corresponding to the different trolley mechanisms are redundant with each other;

[0014] The main contact input terminal of the contactor of the trolley mechanism is electrically connected to the output terminal of the trolley driver in three phases, the main contact output terminal is electrically connected to the main contact input terminal of the normal contactor of the trolley driver in three phases, the main contact output terminal of the normal contactor is electrically connected to the input terminal of the trolley motor thermal magnetic circuit breaker in three phases, and the output terminal of the trolley motor thermal magnetic circuit breaker is electrically connected to the three-phase control terminals of the respective motors in three phases.

[0015] On the basis of the above technical solution, preferably, the driver corresponding to the lifting mechanism and the driver corresponding to the trolley mechanism are redundant with each other.

[0016] On the basis of the above technical solution, preferably, the trolley drivers corresponding to the different trolley mechanisms are redundant with each other.

[0017] On the basis of the above technical solution, preferably, the trolley mechanism includes a first trolley mechanism and a second trolley mechanism;

[0018] The driver of the first trolley mechanism redundantly drives the motor of the second trolley mechanism through contactor switching, or the driver of the second trolley mechanism redundantly drives the motor of the first trolley mechanism through contactor switching.

[0019] On the basis of the above technical solution, preferably, the micro-drives corresponding to the different micro-motion mechanisms of the hoist are redundant with each other; the main contact input end of the contactor of the hoist micro-motion mechanism is electrically connected to the output end of the driver of the hoist micro-motion mechanism in three phases, and the main contact output end is electrically connected to the three-phase control terminal of the hoist micro-motion mechanism.

[0020] On the basis of the above technical solution, preferably, the spreader micro-motion mechanism includes a first spreader micro-motion mechanism and a second spreader micro-motion mechanism;

[0021] The driver of the first spreader micro-motion mechanism redundantly drives the motor of the second spreader micro-motion mechanism through contactor switching; the driver of the second spreader micro-motion mechanism redundantly drives the motor of the first spreader micro-motion mechanism through contactor switching.

[0022] The second aspect of the present invention provides a crane control method based on multi-drive functional redundancy, which is applied to the crane control system based on multi-drive functional redundancy described in the first aspect, comprising:

[0023] Acquire fault information fed back by a multi-drive redundant device; the multi-drive redundant device includes a lifting mechanism, a trolley mechanism, a small carriage mechanism and a sling micro-motion mechanism; the fault information includes the type of the faulty driver in the multi-drive redundant device;

[0024] Determine the corresponding target redundant module from the multi-drive function redundant channel selection device based on the fault information; the multi-drive function redundant channel selection device includes lifting drive redundancy, trolley drive redundancy, lifting and trolley shared redundancy, trolley drive redundancy and spreader micro-drive redundancy;

[0025] A switching control instruction is transmitted to the target redundant module; the switching control instruction is used to control the contactor connected to the failed driver to switch to the driver of the target redundant module.

[0026] The crane control system and method based on multi-drive function redundancy of the present invention has the following beneficial effects compared with the prior art:

[0027] 1. By adding a multi-drive function redundant channel selection device and a function redundant contactor between multiple drives, when some drive devices suddenly fail during the loading and unloading operation of the port lifting equipment, the multi-drive function redundant channel selection device can be used to immediately share the drive redundant function and restore the equipment operation immediately, which greatly improves the drive redundancy capability between the various mechanisms of the equipment, ensures the reliability of the equipment, and improves the stability and efficiency of the terminal's production operations.

[0028] 2. When the driver corresponding to one of the lifting mechanism, trolley mechanism, car mechanism, and hoisting device micro-motion mechanism stops working, the redundant drivers of the same type of mechanism are switched through the contactor, and the redundant drivers of some different types of mechanisms can also be switched through the contactor, thereby driving the motor of the mechanism to work. There is no need to add additional equipment drive devices, but the existing drive devices are used, which improves the utilization rate of the drive devices and reduces the budget cost. The principle is simple and easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 A flow chart of a crane control system based on multi-drive function redundancy provided by an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of electrical connection of the lifting drive and the trolley drive in a shared redundant mode provided in this embodiment;

[0032] Figure 3 A schematic diagram of electrical connection between the lifting drive and the trolley drive redundant contactor provided in this embodiment;

[0033] Figure 4 A schematic diagram of the electrical connection between the redundant contactor relays of the hoist drive and the trolley drive provided in this embodiment;

[0034] Figure 5 A schematic diagram of electrical connection between normal driving and single driving redundancy mode 1 of a large vehicle provided in this embodiment;

[0035] Figure 6 A schematic diagram of electrical connection between normal driving and single driving redundancy mode 2 of a large vehicle provided in this embodiment;

[0036] Figure 7 A schematic diagram of electrical connection between the normal driving and single driving redundant contactors of the trolley provided in this embodiment;

[0037] Figure 8 A schematic diagram of electrical connection between the normal driving and single driving redundant contactor relays of the trolley provided in this embodiment;

[0038] Fig. 9 A schematic diagram of electrical connection of the trolley drive redundant mode provided in this embodiment;

[0039] Fig.10 A schematic diagram of electrical connection of the spreader micro-actuator shared redundant mode provided in this embodiment;

[0040] Fig.11 A schematic diagram of electrical connection of the micro-motion redundant contactor of the spreader provided in this embodiment;

[0041] Fig.12 A schematic flow chart of a crane control method based on multi-drive function redundancy provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following will be combined with 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] In some embodiments, Figure 1 As shown, Figure 1 A schematic diagram of a crane control system based on multi-drive function redundancy provided by an embodiment of the present invention; A crane control system based on multi-drive function redundancy provided by the present invention comprises: a PLC controller 110, a multi-drive function redundancy channel selection device 120 and a multi-drive redundancy device 130;

[0044] The multi-drive function redundant channel selection device 120 includes lifting drive redundancy 121, trolley drive redundancy 122, lifting and trolley shared redundancy 123, trolley drive redundancy 124 and hoisting device micro-drive redundancy 125.

[0045] The multi-drive redundant device 130 includes a lifting mechanism 131, a trolley mechanism 132, a small trolley mechanism 133, a sling micro-motion mechanism 134, and corresponding contactors, contactor relays, and thermal-magnetic circuit breakers.

[0046] The PLC controller 110 is electrically connected to the multi-drive function redundant channel selection device 120 and the multi-drive redundant device 130 .

[0047] In this actual example, the PLC controller 110 is a programmable logic controller, which internally stores instructions for performing operations such as logical operations, sequential control, timing, counting, and arithmetic operations, and controls the operation process of various types of mechanical or electrical equipment through digital and analog inputs and outputs. Here, the PLC controller 110 can send instructions to the multi-drive function redundancy channel selection device 120 to select an appropriate driver for operation and receive feedback signals from the device. The hoist drive redundancy 121 is used to ensure the reliability of the hoist mechanism. If the main hoist drive fails, the redundant drive can immediately take over to avoid operation interruption. The trolley drive redundancy 122 is used for the redundant control of the trolley mechanism to ensure that the trolley mechanism can move stably and reliably when needed. The hoist and trolley shared redundancy 123 is configured such that in some cases, the drivers of the hoist mechanism and the trolley mechanism may share redundant resources to further reduce costs and improve efficiency. The trolley drive redundancy 124 is used for the redundant control of the trolley to ensure that the trolley moves stably on the track. The spreader micro-motion drive redundancy 125 is used to precisely control the minute movement of the spreader to improve the accuracy and safety of the operation.

[0048] In some embodiments, the hoist drives corresponding to different hoist mechanisms are redundant to each other;

[0049] The main contact input end of the contactor of the hoist mechanism is electrically connected in three phases to the output end of the hoist drive, and the main contact output end is electrically connected to the three-phase control terminals of the motor of the hoist mechanism.

[0050] In this embodiment, multiple sets of hoist mechanisms and hoist drives may be included. If one of the multiple hoist drives fails, the remaining hoist drives can immediately take over to drive the corresponding motor to drive the corresponding hoist mechanism to work, thereby avoiding operation interruption.

[0051] In an alternative embodiment, the hoist mechanism includes a first hoist mechanism and a second hoist mechanism; the drive of the first hoist mechanism switches through a contactor to redundantly drive the motor of the second hoist mechanism, or the drive of the second hoist mechanism switches through a contactor to redundantly drive the motor of the first hoist mechanism.

[0052] In this embodiment, the lifting driver includes a first lifting driver and a second lifting driver. The main contact input terminal of the contactor of the first lifting mechanism is electrically connected to the output terminal of the first lifting driver in three phases, and the main contact output terminal of the contactor of the first lifting mechanism is electrically connected to the three-phase control terminal of the motor of the first lifting mechanism. The contactor of the first lifting mechanism is controlled by the PLC controller to drive its coil to be attracted by the corresponding output relay; similarly, the main contact input terminal of the contactor of the second lifting mechanism is electrically connected to the output terminal of the second lifting driver in three phases, and the main contact output terminal of the contactor of the second lifting mechanism is electrically connected to the three-phase control terminal of the motor of the second lifting mechanism. The contactor of the second lifting mechanism is controlled by the PLC controller to drive its coil to be attracted by the corresponding output relay.

[0053] In an example, see Figure 2 , Figure 2 The electrical connection diagram of the shared redundant mode of the lifting drive and the trolley drive provided in this embodiment; the contactor of the first lifting mechanism, i.e., the lifting 1 contactor, is marked as 155MC1; the contactor of the second lifting mechanism, i.e., the lifting 2 contactor, is marked as 155MC3. The lifting 1 contactor is used to control the on-off of the power supply between the lifting 1 drive (i.e., the first lifting drive) and the lifting 1 motor (the motor corresponding to the first lifting mechanism), and the lifting 2 contactor is used to control the on-off of the power supply between the lifting 2 drive (i.e., the second lifting drive) and the lifting 2 motor (the motor corresponding to the second lifting mechanism). When the normal linkage of lifting is selected by the multi-drive function redundancy selection device, the device DO output signal is fed back to the DI input signal of the PLC controller, and the PLC controller controls the lifting 1 contactor to be attracted and the lifting 2 contactor to be attracted, and then the lifting 1 driver and the lifting 1 motor are powered on, and the lifting 2 driver and the lifting 2 motor are powered on for control operation; when the lifting 1 redundant single action is selected, the device DO output signal is fed back to the DI input signal of the PLC controller, and the PLC controller controls the lifting 1 contactor to be attracted, and then the lifting 1 driver and the lifting 1 motor are powered on, and the PLC controller controls the lifting 1 driver to redundantly drive the lifting 1 motor for control operation; when the lifting 2 redundant single action is selected, the device DO output signal is fed back to the DI input signal of the PLC controller, and the PLC controller controls the lifting 2 contactor to be attracted, and then the lifting 2 driver and the lifting 2 motor are powered on, and the PLC controls the lifting 2 driver to redundantly drive the lifting 2 motor for control operation.

[0054] In some embodiments, the trolley drivers corresponding to different trolley mechanisms are redundant with each other;

[0055] The main contact input terminal of the contactor of the trolley mechanism is electrically connected to the output terminal of the trolley driver in three phases, the main contact output terminal is electrically connected to the main contact input terminal of the normal contactor of the trolley driver in three phases, the main contact output terminal of the normal contactor is electrically connected to the input terminal of the trolley motor thermal-magnetic circuit breaker in three phases, and the three phases of the output terminal of the trolley motor thermal-magnetic circuit breaker are electrically connected to the three-phase control terminals of their respective motors.

[0056] In this example, see Figure 3 and Figure 4 , Figure 3 The electrical connection diagram of the redundant contactor between the lifting drive and the trolley drive provided in this embodiment is as follows: Figure 4Schematic diagram of redundant contactor relay electrical connection for the hoisting drive and the trolley drive provided in this embodiment. The trolley mechanism includes trolley 1 and trolley 2. The contactor of trolley 1 is marked as 155MC6; the normal contactor corresponding to the drive of trolley 1 is marked as 165MC1; the contactor of trolley 2 redundant to the drive of trolley 1 is marked as 165MC3; the contactor of trolley 2 is marked as 155MC8; the normal contactor corresponding to the drive of trolley 2 is marked as 165MC4; the contactor of trolley 1 redundant to the drive of trolley 2 is marked as 165MC2. The main contact input end of the contactor of trolley 1 is three-phase electrically connected to the output end of the drive of trolley 1, the main contact output end of the contactor of trolley 1 is three-phase electrically connected to the main contact input end of the normal contactor corresponding to the drive of trolley 1, the main contact output end of the normal contactor corresponding to the drive of trolley 1 is three-phase electrically connected to the input ends of several thermal magnetic circuit breakers of trolley motors on one side of trolley 1, and the output ends of several thermal magnetic circuit breakers of trolley motors on one side of trolley 1 are three-phase electrically connected to the three-phase control terminals of their respective motors. The main contact input end of the contactor of trolley 2 is three-phase electrically connected to the output end of the drive of trolley 2, the main contact output end of the contactor of trolley 2 is three-phase electrically connected to the main contact input end of the normal contactor corresponding to the drive of trolley 2, the main contact output end of the normal contactor corresponding to the drive of trolley 2 is three-phase electrically connected to the input ends of several thermal magnetic circuit breakers of trolley motors on one side of trolley 2, and the output ends of several thermal magnetic circuit breakers of trolley motors on one side of trolley 2 are three-phase electrically connected to the three-phase control terminals of their respective motors. The contactor of trolley 1 is used to control the on-off of the power supply between the drive of trolley 1 and the normal contactor corresponding to the drive of trolley 1, the normal contactor corresponding to the drive of trolley 1 is used to control the on-off of the power supply between the contactor of trolley 1 and several thermal magnetic circuit breakers of trolley motors on one side of trolley 1, and several thermal magnetic circuit breakers of trolley motors on one side of trolley 1 are respectively connected to their corresponding trolley motors; the contactor of trolley 2 is used to control the on-off of the power supply between the drive of trolley 2 and the normal contactor corresponding to the drive of trolley 2, the normal contactor corresponding to the drive of trolley 2 is used to control the on-off of the power supply between the contactor of trolley 2 and several thermal magnetic circuit breakers of trolley motors on one side of trolley 2, and several thermal magnetic circuit breakers of trolley motors on one side of trolley 2 are respectively connected to their corresponding trolley motors; the protection function of the thermal magnetic circuit breaker is that it will protect and trip when the operating current of the connected motor exceeds the set value, effectively avoiding damage to the motor caused by excessive current due to overload, undervoltage, frequent start-up, etc. during the operation of the motor.When the normal linkage of the trolley is selected by the multi-drive function redundant selection device, the DO output signal of the device is fed back to the DI input signal of the PLC controller, and the PLC controller controls the contactor of trolley 1 to be energized, the contactor of trolley 2 to be energized, the normal contactor corresponding to the driver of trolley 1 to be energized, and the normal contactor corresponding to the driver of trolley 2 to be energized, and then the driver of trolley 1 and all the motors on one side of trolley 1 are connected to power, and the driver of trolley 2 and all the motors on one side of trolley 2 are connected to power, and the PLC normally controls the linkage operation of the driver of trolley 1 and the driver of trolley 2.

[0057] Here, see Figure 5 and Figure 6 , Figure 5 A schematic diagram of electrical connection between normal driving and single driving redundancy mode 1 of a large vehicle provided in this embodiment; Figure 6The schematic diagram of electrical connection between normal driving and single drive redundant mode 2 of the trolley provided in this embodiment. The main contact input terminal of the contactor of the redundant trolley 2 of the driver of trolley 1 is electrically connected to the main contact output terminal of the contactor of trolley 1 in three phases, and the main contact output terminal of the contactor of the redundant trolley 2 of the driver of trolley 1 is electrically connected to the main contact output terminal of the normal contactor corresponding to the driver of trolley 2 in three phases. The main contact input terminal of the contactor of the redundant trolley 1 of the driver of trolley 2 is electrically connected to the main contact output terminal of the contactor of trolley 2 in three phases, and the main contact output terminal of the contactor of the redundant trolley 1 of the driver of trolley 2 is electrically connected to the main contact output terminal of the normal contactor corresponding to the driver of trolley 1 in three phases. The redundant contactor of carriage 2 of carriage 1's driver is used to control the on and off of the power supply of carriage 1's contactor and several carriage motor thermal-magnetic circuit breakers on carriage 2's side. Several carriage motor thermal-magnetic circuit breakers on carriage 2's side are respectively connected to their corresponding carriage motors; The redundant contactor of carriage 1 of carriage 2's driver is used to control the on and off of the power supply of carriage 2's contactor and several carriage motor thermal-magnetic circuit breakers on carriage 1's side. Several carriage motor thermal-magnetic circuit breakers on carriage 1's side are respectively connected to their corresponding carriage motors; The protective function of the thermal-magnetic circuit breaker is to protect the tripping when the running current of the connected motor exceeds the set value, effectively avoiding damage to the motor due to excessive current caused by overload, undervoltage, frequent starting, etc. during motor operation. When the redundant single-action of trolley 1 is selected by the multi-drive function redundancy selection device, the DO output signal of the device is fed back to the DI input signal of the PLC controller, and the PLC controller controls the contactor of trolley 1 to be energized, and the redundant contactor of trolley 1 and the contactor of trolley 2 to be energized, and then the driver of trolley 1 and part of the motor on one side of trolley 1 are powered on, and at the same time, the driver of trolley 1 and part of the motor on one side of trolley 2 are powered on, and the PLC controls the driver of trolley 1 to redundantly drive the trolley motor to operate; when the redundant single-action of trolley 2 is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, and the PLC controller controls the contactor of trolley 2 to be energized, and the redundant contactor of trolley 2 and the contactor of trolley 1 to be energized, and then the driver of trolley 2 and part of the motor on one side of trolley 2 are powered on, and at the same time, the driver of trolley 2 and part of the motor on one side of trolley 1 are powered on, and the PLC controls the driver of trolley 2 to redundantly drive the trolley motor to operate. It should be noted that the normal contactor corresponding to the driver of cart 1, the contactor of cart 2 whose driver is redundant with cart 1, the normal contactor corresponding to the driver of cart 2, and the contactor of cart 1 whose driver is redundant with cart 2 cannot be energized at the same time, and there is an electrical control interlock.

[0058] In some embodiments, the drive corresponding to the lifting mechanism and the drive corresponding to the trolley mechanism are redundant.

[0059] In this embodiment, when the driver corresponding to the lifting mechanism fails, the drivers corresponding to the trolley mechanism can drive the motor connected to the lifting mechanism to drive the lifting mechanism to continue working; similarly, when the driver corresponding to the trolley mechanism fails, the drivers corresponding to the lifting mechanism can drive the motor connected to the trolley mechanism to drive the trolley mechanism to continue working.

[0060] In some embodiments, the lifting mechanism includes a first lifting mechanism; the trolley mechanism includes a first trolley mechanism;

[0061] The driver of the first lifting mechanism switches the motor of the first trolley mechanism redundantly through a contactor; the driver of the first trolley mechanism switches the motor of the first lifting mechanism redundantly through a contactor.

[0062] In this example, see Figure 7 and Figure 8 , Figure 7 The schematic diagram of electrical connection between the normal driving and single driving redundant contactors of the trolley provided in this embodiment is as follows: Figure 8 A schematic diagram of the electrical connection between the normal drive and the single drive redundant contactor relay of the trolley provided in this embodiment. The first lifting mechanism is referred to as lifting 1, and the second lifting mechanism is referred to as lifting 2. The trolley mechanism includes trolley 1 and trolley 2. The driver of lifting 1 is redundantly driven by the motor of trolley 1 through contactor switching, marked as 155MC5; the driver of trolley 1 is redundantly driven by the motor of lifting 1 through contactor switching, marked as 155MC2; the driver of lifting 2 is redundantly driven by the motor of trolley 2 through contactor switching, marked as 155MC7; the driver of trolley 2 is redundantly driven by the motor of lifting 2 through contactor switching, marked as 155MC4. The main contact input terminal of the redundant contactor used to connect the driver of lifting 1 and the motor of trolley 1 is electrically connected to the output terminal of the driver of lifting 1 in three phases, and the main contact output terminal of the redundant contactor is electrically connected to the main contact input terminal of the normal contactor corresponding to the driver of trolley 1 or the redundant trolley 2 contactor of the driver of trolley 1 in three phases. Similarly, the redundant contactors for connecting the driver of trolley 1 and the motor of hoist 1, the redundant contactors for connecting the driver of hoist 2 and the motor of trolley 2, and the redundant contactors for connecting the driver of trolley 2 and the motor of hoist 2 have their main contacts connected in a similar manner.

[0063] In this embodiment, the redundant contactor of the hoist 1 driver trolley 1, that is, the driver of the hoist 1, switches the redundant motor drive of the trolley 1 through the contactor, and is specifically used to control the on and off of the power supply of the normal contactor corresponding to the driver of the hoist 1 and the driver of the trolley 1 or the redundant contactor of the driver of the trolley 2 of the trolley 1. The control principle of the driver of the hoist 2, the driver of the trolley 1 and the driver of the trolley 2 is the same. When the redundant trolley 1 of hoisting 1 is selected by the multi-drive function redundant channel selection device, the DO output signal of the device is fed back to the DI input signal of the PLC controller, and the PLC controller controls the redundant contactor of the hoisting 1 driver trolley 1 to be attracted, the normal contactor of the trolley 1 driver or the redundant trolley 2 contactor of the trolley 1 driver to be attracted, and then the hoisting 1 driver and part of the motor on one side of the trolley are powered on, and the PLC controls the redundant drive of the hoisting 1 driver to operate the trolley motor; when the redundant hoisting 1 of trolley 1 is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, and the PLC controller controls the redundant contactor of the trolley 1 driver to be attracted, and then the trolley 1 driver and the hoisting 1 motor are powered on, and the PLC controls the redundant drive of the trolley 1 driver The lifting 1 motor is controlled and operated; when the redundant trolley 2 of lifting 2 is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, and the PLC controller controls the lifting 2 driver trolley 2 redundant contactor to be attracted, the normal contactor of the trolley 2 driver or the redundant trolley 1 contactor of the trolley 2 driver to be attracted, and then the lifting 2 driver and part of the motor on one side of the trolley are powered on, and the lifting 2 driver redundantly drives part of the trolley motor to control and operate; when the redundant lifting 2 of trolley 2 is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, and the PLC controller controls the lifting 2 redundant contactor of the trolley 2 driver to be attracted, and then the trolley 2 driver and the lifting 2 motor are powered on, and the PLC controls the trolley 2 driver to redundantly drive the lifting 2 motor to control and operate. It should be noted that the lifting 1 contactor, lifting 2 contactor, trolley 1 contactor, trolley 2 contactor, lifting 1 driver trolley 1 redundant contactor, trolley 1 driver lifting 1 redundant contactor, lifting 2 driver trolley 2 redundant contactor, trolley 2 driver lifting 2 redundant contactor cannot be energized at the same time and there is an electrical control interlock.

[0064] In some embodiments, the trolley drivers corresponding to different trolley mechanisms are redundant with each other.

[0065] In some embodiments, the trolley mechanism includes a first trolley mechanism and a second trolley mechanism; the driver of the first trolley mechanism redundantly drives the motor of the second trolley mechanism through contactor switching, or the driver of the second trolley mechanism redundantly drives the motor of the first trolley mechanism through contactor switching.

[0066] In this embodiment, the first trolley mechanism and the second trolley mechanism are respectively referred to as trolley 1 and trolley 2. When the driver corresponding to trolley 1 fails, the driver corresponding to trolley 2 can drive the motor connected to trolley 1 to drive trolley 1 to continue working; similarly, when the driver corresponding to trolley 2 fails, the driver corresponding to trolley 1 can drive the motor connected to trolley 2 to drive trolley 2 to continue working.

[0067] In an example, see Fig. 9 , Fig. 9 The electrical connection diagram of the trolley driver redundant mode provided in this embodiment; trolley motors 1 to 4 thermal magnetic circuit breakers are marked as 144CB1, 144CB3, 144CB5, 144CB7. The input ends of the trolley motors 1 and 2 thermal magnetic circuit breakers are electrically connected to the output ends of the trolley 1 driver in three phases, and the output ends of the trolley motors 1 and 2 thermal magnetic circuit breakers are electrically connected to the corresponding trolley motor three-phase control terminals; the input ends of the trolley motors 3 and 4 thermal magnetic circuit breakers are electrically connected to the output ends of the trolley 2 driver in three phases, and the output ends of the trolley motors 3 and 4 thermal magnetic circuit breakers are electrically connected to the corresponding trolley motor three-phase control terminals.

[0068] In this embodiment, thermal magnetic circuit breakers No. 1 and No. 2 of trolley motors are used to control the on and off of the power supply between trolley 1 driver and the corresponding trolley motor; thermal magnetic circuit breakers No. 3 and No. 4 of trolley motors are used to control the on and off of the power supply between trolley 1 driver and the corresponding trolley motor; the protection function of the thermal magnetic circuit breaker is that when the operating current of the connected motor exceeds the set value, it will protect the tripping, effectively avoiding damage to the motor due to excessive current caused by overload, undervoltage, frequent starting, etc. during motor operation. When the normal linkage of the trolley is selected by the multi-drive function redundant selection device, the device DO output signal is fed back to the DI input signal of the PLC controller, and the thermal magnetic circuit breaker of trolley motors 1 and 2 is connected to the power supply, and the thermal magnetic circuit breaker of trolley motors 3 and 4 is connected to the power supply, and the PLC simultaneously controls the trolley 1 driver and the trolley 2 driver to drive their respective trolley motors for operation; when the redundant single action of trolley 1 is selected, the device DO output signal is fed back to the DI input signal of the PLC controller, and the thermal magnetic circuit breaker of trolley motors 1 and 2 is connected to the power supply, and the PLC independently controls the trolley 1 driver to drive trolley motors 1 and 2 for operation; when the redundant single action of trolley 2 is selected, the device DO output signal is fed back to the DI input signal of the PLC controller, and the thermal magnetic circuit breaker of trolley motors 3 and 4 is connected to the power supply, and the PLC independently controls the trolley 2 driver to drive trolley motors 3 and 4 for operation.

[0069] In some embodiments, the micro-motion drivers corresponding to different sling micro-motion mechanisms are redundant with each other; the main contact input terminal of the contactor of the sling micro-motion mechanism is electrically connected to the output terminal of the driver of the sling micro-motion mechanism in three phases, and the main contact output terminal is electrically connected to the three-phase control terminal of the sling micro-motion mechanism.

[0070] In some embodiments, the sling micro-motion mechanism includes a first sling micro-motion mechanism and a second sling micro-motion mechanism; the driver of the first sling micro-motion mechanism redundantly drives the motor of the second sling micro-motion mechanism through contactor switching; the driver of the second sling micro-motion mechanism redundantly drives the motor of the first sling micro-motion mechanism through contactor switching.

[0071] In an example, see Fig.10 and Fig.11 , Fig.10 This is a schematic diagram of electrical connection of the shared redundant mode of the sling micro-actuator provided in this embodiment. Fig.11 The electrical connection diagram of the redundant contactor for the micro-motion of the sling provided in this embodiment; the first micro-motion mechanism of the sling is referred to as the micro-motion 1 of the sling, the second micro-motion mechanism of the sling is referred to as the micro-motion 2 of the sling, and the other similar names are the same. The contactor of the micro-motion 1 of the sling is marked as 356MC1; the contactor of the micro-motion 2 of the sling is marked as 356MC3; the contactor of the micro-motion 3 of the sling is marked as 356MC5; the contactor of the micro-motion 4 of the sling is marked as 356MC7. The main contact input end of the spreader micro-motion 1 contactor is electrically connected to the output end of the spreader micro-motion 1 driver in three phases, and the main contact output end of the spreader micro-motion 1 contactor is electrically connected to the three-phase control terminal of the spreader micro-motion motor 1; the main contact input end of the spreader micro-motion 2 contactor is electrically connected to the output end of the spreader micro-motion 2 driver in three phases, and the main contact output end of the spreader micro-motion 2 contactor is electrically connected to the three-phase control terminal of the spreader micro-motion motor 2; the main contact input end of the spreader micro-motion 3 contactor is electrically connected to the output end of the spreader micro-motion 3 driver in three phases, and the main contact output end of the spreader micro-motion 3 contactor is electrically connected to the three-phase control terminal of the spreader micro-motion motor 3; the main contact input end of the spreader micro-motion 4 contactor is electrically connected to the output end of the spreader micro-motion 4 driver in three phases, and the main contact output end of the spreader micro-motion 1 contactor is electrically connected to the three-phase control terminal of the spreader micro-motion motor 1.

[0072] In this embodiment, the contactor of the spreader micro-motion 1 is used to control the on-off of the power supply between the spreader micro-motion 1 driver and the spreader micro-motion motor 1; the contactor of the spreader micro-motion 2 is used to control the on-off of the power supply between the spreader micro-motion 2 driver and the spreader micro-motion motor 2; the contactor of the spreader micro-motion 3 is used to control the on-off of the power supply between the spreader micro-motion 3 driver and the spreader micro-motion motor 3; the contactor of the spreader micro-motion 4 is used to control the on-off of the power supply between the spreader micro-motion 4 driver and the spreader micro-motion motor 4. When the spreader micro-motion 1 and 3 are normally linked by the multi-drive function redundant selection device, the device DO output signal is fed back to the DI input signal of the PLC controller, and the PLC controller controls the spreader micro-motion 1 contactor to be attracted and the spreader micro-motion 3 contactor to be attracted, and then the spreader micro-motion 1 driver and the spreader micro-motion 3 driver are connected to the spreader micro-motion motor 1 and the spreader micro-motion motor 3 respectively, and the PLC controls the normal driving of the spreader micro-motion motor 1 and the spreader micro-motion motor 3 for linkage operation; when the spreader micro-motion 1 is selected to be normally single-acting, the device DO output signal is fed back to the PLC The DI input signal of the controller, the PLC controller controls the spreader micro-motion 1 contactor to be attracted, and then the spreader micro-motion 1 driver and the spreader micro-motion motor 1 are powered on, and the PLC controls the spreader micro-motion 1 driver to drive the spreader micro-motion motor 1 for operation; when the spreader micro-motion 3 normal single movement is selected, the device DO output signal is fed back to the DI input signal of the PLC controller, the PLC controller controls the spreader micro-motion 3 contactor to be attracted, and then the spreader micro-motion 3 driver and the spreader micro-motion motor 3 are powered on, and the PLC controls the spreader micro-motion 3 driver to drive the spreader micro-motion motor 3 Control operation; When the normal linkage of the spreader micro-motion 2 and 4 is selected, the device DO output signal is fed back to the DI input signal of the PLC controller, and the PLC controller controls the spreader micro-motion 2 contactor to be attracted, and the spreader micro-motion 4 contactor to be attracted, and then the spreader micro-motion 2 driver and the spreader micro-motion 4 driver are connected to the spreader micro-motion motor 2 and the spreader micro-motion motor 4 respectively, and the PLC controls the normal driving of the spreader micro-motion motor 2 and the spreader micro-motion motor 4 to control the operation; When the spreader micro-motion 2 is selected to be a normal single movement, the device DO output signal is fed back to the DI of the PLC controller Input signal, PLC controller controls the contactor of spreader micro-motion 2 to attract, and then the spreader micro-motion 2 driver and the spreader micro-motion motor 2 are powered on, and PLC controls the spreader micro-motion 2 driver to drive the spreader micro-motion motor 2 for control and operation; when the spreader micro-motion 4 normal single movement is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, and the PLC controller controls the contactor of spreader micro-motion 4 to attract, and then the spreader micro-motion 4 driver and the spreader micro-motion motor 4 are powered on, and PLC controls the spreader micro-motion 4 driver to drive the spreader micro-motion motor 4 for control and operation.

[0073] In another example, the crane control system also includes a redundant micro-motion 2 contactor for a spreader micro-motion 1 driver, a redundant micro-motion 1 contactor for a spreader micro-motion 2 driver, a redundant micro-motion 4 contactor for a spreader micro-motion 3 driver, a redundant micro-motion 3 contactor for a spreader micro-motion 4 driver, and PLC controller output points corresponding to the above contactors.

[0074] The redundant micro-motion 2 contactor of the spreader micro-motion 1 driver is marked as 356MC4; the redundant micro-motion 1 contactor of the spreader micro-motion 2 driver is marked as 356MC2; the redundant micro-motion 4 contactor of the spreader micro-motion 3 driver is marked as 356MC8; the redundant micro-motion 3 contactor of the spreader micro-motion 4 driver is marked as 356MC6. The main contact input end of the redundant micro-motion 2 contactor of the spreader micro-motion 1 driver is electrically connected to the output end of the spreader micro-motion 1 driver in three phases, and the main contact output end of the redundant micro-motion 2 contactor of the spreader micro-motion 1 driver is electrically connected to the three-phase control terminal of the spreader micro-motion motor 2; the main contact input end of the redundant micro-motion 1 contactor of the spreader micro-motion 2 driver is electrically connected to the output end of the spreader micro-motion 2 driver in three phases, and the main contact output end of the redundant micro-motion 1 contactor of the spreader micro-motion 2 driver is electrically connected to the three-phase control terminal of the spreader micro-motion motor 1; The main contact input end of the redundant micro-motion 4 contactor of the hoist micro-motion 3 driver is electrically connected to the output end of the hoist micro-motion 3 driver in three phases, and the main contact output end of the redundant micro-motion 4 contactor of the hoist micro-motion 3 driver is electrically connected to the three-phase control terminal of the hoist micro-motion motor 4; the main contact input end of the redundant micro-motion 3 contactor of the hoist micro-motion 4 driver is electrically connected to the output end of the hoist micro-motion 4 driver in three phases, and the main contact output end of the redundant micro-motion 3 contactor of the hoist micro-motion 4 driver is electrically connected to the three-phase control terminal of the hoist micro-motion motor 3.

[0075] In this embodiment, the redundant micro-motion 2 contactor of the spreader micro-motion 1 driver is used to control the on-off power supply between the spreader micro-motion 1 driver and the spreader micro-motion motor 2; the redundant micro-motion 1 contactor of the spreader micro-motion 2 driver is used to control the on-off power supply between the spreader micro-motion 2 driver and the spreader micro-motion motor 1; the redundant micro-motion 4 contactor of the spreader micro-motion 3 driver is used to control the on-off power supply between the spreader micro-motion 3 driver and the spreader micro-motion motor 4; the redundant micro-motion 3 contactor of the spreader micro-motion 4 driver is used to control the on-off power supply between the spreader micro-motion 4 driver and the spreader micro-motion motor 3. When the redundant micro-motion 2 of the spreader micro-motion 1 is selected by the multi-drive function redundancy selection device, the DO output signal of the device is fed back to the DI input signal of the PLC controller, and the PLC controller controls the redundant micro-motion 2 contactor of the spreader micro-motion 1 driver to be attracted, and then the spreader micro-motion 1 driver and the spreader micro-motion motor 2 are powered on, and the PLC controls the spreader micro-motion 1 driver to redundantly drive the spreader micro-motion motor 2 for operation; when the redundant micro-motion 1 of the spreader micro-motion 2 is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, and the PLC controller controls the redundant micro-motion 1 contactor of the spreader micro-motion 2 driver to be attracted, and then the spreader micro-motion 2 driver and the spreader micro-motion motor 1 are powered on, and the PLC controls the spreader micro-motion 2 driver to redundantly drive the spreader micro-motion motor 1 control operation; when the redundant micro-motion 4 of the spreader is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, and the PLC controller controls the redundant micro-motion 4 contactor of the spreader micro-motion 3 driver to be attracted, and then the spreader micro-motion 3 driver and the spreader micro-motion motor 4 are powered on, and the PLC controls the spreader micro-motion 3 driver to redundantly drive the spreader micro-motion motor 4 for control operation; when the redundant micro-motion 3 of the spreader micro-motion 4 is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, and the PLC controller controls the redundant micro-motion 3 contactor of the spreader micro-motion 4 driver to be attracted, and then the spreader micro-motion 4 driver and the spreader micro-motion motor 3 are powered on, and the PLC controls the spreader micro-motion 4 driver to redundantly drive the spreader micro-motion motor 3 for control operation. Note: The spreader micro-motion 1 contactor, spreader micro-motion 2 contactor, spreader micro-motion 3 contactor, spreader micro-motion 4 contactor, spreader micro-motion 1 driver redundant micro-motion 2 contactor, spreader micro-motion 2 driver redundant micro-motion 1 contactor, spreader micro-motion 3 driver redundant micro-motion 4 contactor, spreader micro-motion 4 driver redundant micro-motion 3 contactor cannot be energized at the same time and have electrical control interlocking.

[0076] In some embodiments, see Fig.12 , Fig.12 A flow chart of a crane control method based on multi-drive function redundancy provided by an embodiment of the present invention; the present invention provides a crane control method based on multi-drive function redundancy, which is applied to the above-mentioned crane control system based on multi-drive function redundancy, comprising:

[0077] S1210, obtain the fault information fed back by the multi-drive redundancy device; the multi-drive redundancy device includes a hoisting mechanism, a trolley mechanism, a crab mechanism, and a spreader micro-motion mechanism; the fault information includes the type of the faulty driver in the multi-drive redundancy device.

[0078] S1220, determine the corresponding target redundancy module from the multi-drive functional redundancy channel selection device based on the fault information; the multi-drive functional redundancy channel selection device includes hoisting driver redundancy, trolley driver redundancy, shared redundancy between hoisting and trolley, crab driver redundancy, and spreader micro-motion driver redundancy.

[0079] S1230, transmit a switching control instruction to the target redundancy module; the switching control instruction is used to control the contactor connected to the faulty driver to switch to the driver of the target redundancy module.

[0080] In some embodiments, S1220, determining the corresponding target redundancy module from the multi-drive functional redundancy channel selection device based on the fault information includes:

[0081] Determine the target redundancy module with a driver of the same type as the faulty driver from the multi-drive functional redundancy channel selection device based on the fault information.

[0082] In some embodiments, S1220, determining the corresponding target redundancy module from the multi-drive functional redundancy channel selection device based on the fault information includes:

[0083] When the faulty driver is the hoisting mechanism or the trolley mechanism, the target redundancy module is the redundancy module with a hoisting driver or a trolley driver.

[0084] It should be noted that the crane control method based on multi-drive functional redundancy provided in the embodiments of the present application and the crane control system based on multi-drive functional redundancy provided in the foregoing embodiments are based on the same inventive concept. Therefore, the specific implementation of this embodiment can refer to the implementation of the foregoing crane control system based on multi-drive functional redundancy, and the repeated parts will not be described again.

[0085] Those skilled in the art will appreciate that the features described in the various embodiments and / or claims of the present application may be combined and / or combined in a variety of ways, even if such combinations or combinations are not explicitly described in the present application. In particular, without departing from the spirit and teachings of the present application, the features described in the various embodiments and / or claims of the present application may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present application. Therefore, the scope of the present application should not be limited to the above-described embodiments, but should be determined not only by the attached claims, but also by the equivalents of the attached claims. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A crane control system based on multi-drive function redundancy, characterized in that: include: PLC controller, multi-drive function redundant channel selection device and multi-drive redundant device; The multi-drive function redundant channel selection device includes lifting drive redundancy, trolley drive redundancy, lifting and trolley shared redundancy, trolley drive redundancy and spreader micro-motion drive redundancy; The multi-drive redundant device includes a lifting mechanism, a trolley mechanism, a small carriage mechanism, a sling micro-motion mechanism, and corresponding contactors, contactor relays, and thermal magnetic circuit breakers; The PLC controller is electrically connected to the multi-drive function redundant channel selection device and the multi-drive redundant device.

2. The crane control system based on multi-drive functional redundancy as claimed in claim 1, characterized in that: The lifting drivers corresponding to the different lifting mechanisms are redundant with each other; The main contact input end of the contactor of the lifting mechanism is electrically connected to the output end of the lifting driver in three phases, and the main contact output end is electrically connected to the three-phase control terminal of the motor of the lifting mechanism.

3. The crane control system based on multi-drive functional redundancy as claimed in claim 2, characterized in that: The lifting mechanism comprises a first lifting mechanism and a second lifting mechanism; The driver of the first lifting mechanism redundantly drives the motor of the second lifting mechanism through contactor switching, or the driver of the second lifting mechanism redundantly drives the motor of the first lifting mechanism through contactor switching.

4. The crane control system based on multi-drive functional redundancy as claimed in claim 1, characterized in that: The trolley drivers corresponding to the different trolley mechanisms are redundant with each other; The main contact input terminal of the contactor of the trolley mechanism is electrically connected to the output terminal of the trolley driver in three phases, the main contact output terminal is electrically connected to the main contact input terminal of the normal contactor of the trolley driver in three phases, the main contact output terminal of the normal contactor is electrically connected to the input terminal of the trolley motor thermal magnetic circuit breaker in three phases, and the output terminal of the trolley motor thermal magnetic circuit breaker is electrically connected to the three-phase control terminals of the respective motors in three phases.

5. The crane control system based on multi-drive functional redundancy as claimed in claim 1, characterized in that: The driver corresponding to the lifting mechanism and the driver corresponding to the trolley mechanism are redundant with each other.

6. The crane control system based on multi-drive functional redundancy as claimed in claim 1, characterized in that: The trolley drivers corresponding to the different trolley mechanisms are redundant with each other.

7. The crane control system based on multi-drive functional redundancy as claimed in claim 6, characterized in that: The trolley mechanism comprises a first trolley mechanism and a second trolley mechanism; The driver of the first trolley mechanism redundantly drives the motor of the second trolley mechanism through contactor switching, or the driver of the second trolley mechanism redundantly drives the motor of the first trolley mechanism through contactor switching.

8. The crane control system based on multi-drive functional redundancy as claimed in claim 1, characterized in that: The micro-motion drivers corresponding to different micro-motion mechanisms of the spreader are redundant with each other; the main contact input end of the contactor of the spreader micro-motion mechanism is electrically connected to the output end of the driver of the spreader micro-motion mechanism in three phases, and the main contact output end is electrically connected to the three-phase control terminal of the spreader micro-motion mechanism.

9. The crane control system based on multi-drive functional redundancy as claimed in claim 1, characterized in that: The sling micro-motion mechanism comprises a first sling micro-motion mechanism and a second sling micro-motion mechanism; The driver of the first spreader micro-motion mechanism redundantly drives the motor of the second spreader micro-motion mechanism through contactor switching; the driver of the second spreader micro-motion mechanism redundantly drives the motor of the first spreader micro-motion mechanism through contactor switching.

10. A crane control method based on multi-drive functional redundancy, applied to the crane control system based on multi-drive functional redundancy according to claims 1-9, characterized in that: include: Obtaining fault information fed back by a multi-drive redundant device; the multi-drive redundant device includes a lifting mechanism, a trolley mechanism, a small carriage mechanism and a sling micro-motion mechanism; The fault information includes the type of the faulty drive in the multi-drive redundant device; Determine the corresponding target redundant module from the multi-drive function redundant channel selection device based on the fault information; the multi-drive function redundant channel selection device includes lifting drive redundancy, trolley drive redundancy, lifting and trolley shared redundancy, trolley drive redundancy and spreader micro-drive redundancy; A switching control instruction is transmitted to the target redundant module; the switching control instruction is used to control the contactor connected to the failed driver to switch to the driver of the target redundant module.

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