Crane self-adaptive deceleration system and method based on variable frequency anti-swing

Abstract

The invention provides a crane self-adaptive deceleration system and method based on variable frequency anti-swing. The system comprises a rail-mounted crane, a weighing sensing module mounted at the bottom of a supporting motor, an inclination sensing module mounted on a rail-mounted crane frame, and an ADC module for performing data conversion on the weighing sensing module and the inclination sensing module; the controller U3 receives the digital signal of the ADC module and calculates a deceleration parameter; the PWM module is used for adjusting the output torque of the motor M1 according to the controller U3; a weighing sensor U1 in the weighing sensing module converts hoisting load into an electric signal, the electric signal is output after being amplified by a triode Q1, a capacitor C1 filters out high-frequency noise, the stability of weight data is ensured, accurate input is provided for the speed reduction distance and the motor torque through real-time weighing data, and heavy load impact or light load low efficiency is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to a crane adaptive deceleration system and method based on variable frequency anti-shake, in particular to the electric control field of rail-mounted container cranes. BACKGROUND

[0002] Rail-mounted container cranes (such as rail-mounted gantry cranes, RMG) are core equipment for container handling in ports, logistics centers and railway freight yards. During operation, it is necessary to efficiently and accurately control the lifting and movement of the spreader, while ensuring stability under the influence of factors such as load changes, uneven tracks, or external wind forces. However, traditional crane control systems have certain limitations in adaptive deceleration and dynamic balance adjustment, which can easily lead to the following problems:

[0003] Traditional cranes usually use fixed deceleration distance or simple weight threshold to trigger deceleration, which cannot dynamically adjust the deceleration curve according to real-time load weight, resulting in large braking impact under heavy load and low efficiency under light load. When the crane tilts due to uneven tracks, wind or load eccentricity, the traditional system relies only on mechanical limiting or manual intervention, lacks active correction ability, and is prone to safety hazards (such as overturning and container swinging).

[0004] Most systems do not analyze weighing data and tilt angle in coordination, resulting in delayed control response and difficulty in real-time optimization of torque and deceleration. The motor often runs at constant power, causing energy waste under light or no load, and lacks adaptive PWM speed control based on load. SUMMARY

[0005] The present application relates to a crane adaptive deceleration system and method based on variable frequency anti-shake, in particular to the electric control field of rail-mounted container cranes.

[0006] Technical solution: A crane adaptive deceleration system based on variable frequency anti-shake, comprising: a rail-mounted crane, a weighing sensor module installed at the bottom of the support motor, a tilt sensor module installed on the rail-mounted crane,

[0007] An ADC module for data conversion of the weighing sensor module and the tilt sensor module;

[0008] A controller U3 receives digital signals from the ADC module and calculates deceleration parameters;

[0009] A PWM module for adjusting the output torque of the motor M1 according to the controller U3.

[0010] In further embodiments, the weighing sensor module includes a weighing sensor U1, a triode Q1, and a capacitor C1, the triode Q1 collector terminal is connected with the input positive terminal power supply +5V, the triode Q1 emitter terminal is connected with the weighing sensor U1 pin 1, the weighing sensor U1 pin 4 is connected with one end of the capacitor C1, the other end of the capacitor C1 is connected with the weighing sensor U1 pin 3, and the weighing sensor U1 pin 2 is connected with the ground wire GND.

[0011] In further embodiments, the inclination sensing module includes a ball switch S1 and a resistor R1, one end of the ball switch S1 is connected with the triode Q1 collector terminal, the other end of the ball switch S1 is connected with one end of the resistor R1, the other end of the resistor R1 is connected with the ground wire GND, and the ball switch S1 is internally provided with a conductor ball and two electrodes.

[0012] In further embodiments, the ADC module includes an analog-to-digital converter U5, a resistor R2, a capacitor C2, a triode Q2, and an oscillator U2, the analog-to-digital converter U5 pin 1 is connected with the triode Q1 collector terminal, the controller U3 pin 10, and the oscillator U2 pin 4, the analog-to-digital converter U5 pin 5 is connected with the triode Q2 collector terminal, the controller U3 pin 46, and the oscillator U2 pin 8, the analog-to-digital converter U5 pin 2 is connected with the triode Q1 base terminal, the analog-to-digital converter U5 pin 4 is connected with one end of the capacitor C1, the analog-to-digital converter U5 pin 7 is connected with the other end of the capacitor C1, the triode Q2 emitter terminal, the ground wire GND, the oscillator U2 pin 5, one end of the capacitor C2, and one end of the resistor R2; the other end of the capacitor C2 is connected with the oscillator U2 pin 1, the oscillator U2 pins 2 and 6 are connected with the other end of the resistor R1, the other end of the resistor R2 is connected with the oscillator U2 pin 7 and one end of the resistor R1, the triode Q2 base terminal is connected with the oscillator U2 pin 3, the analog-to-digital converter U5 pin 14 is connected with the controller U3 pin 16, the analog-to-digital converter U5 pin 11 is connected with the controller U3 pin 11, and the analog-to-digital converter U5 pin 3 is connected with the weighing sensor U1 pin 1.

[0013] In a further embodiment, the PWM module includes diode D1, diode D2, timer U4, transistor Q3, and motor M1. The negative terminal of diode D1 is connected to the positive terminal of diode D2 and pin 8 of timer U4. The positive terminal of diode D1 is connected to the negative terminal of diode D2, pin 44 of controller U3, and pins 2 and 1 of timer U4. Pin 5 of timer U4 is connected to ground GND. Pin 7 of timer U4 is connected to pin 1 of transistor Q3. Pin 2 of transistor Q3 is connected to ground GND. Pin 3 of transistor Q3 is connected to one end of motor M1. The other end of motor M1 is connected to the input power supply V+. Pin 8 of timer U4 is connected to pin 2 of controller U3.

[0014] An adaptive deceleration method for cranes based on variable frequency anti-sway, used to drive an adaptive deceleration system for cranes based on variable frequency anti-sway, includes,

[0015] Rail-mounted cranes are used to transfer containers;

[0016] The weighing sensor module is used to obtain the weight lifted by the rail crane; the weight is detected by the weighing sensor U1, transistor Q1 and capacitor C1, and an analog voltage signal proportional to the weight is output.

[0017] The tilt sensing module is used to obtain the tilt angle of the rail-mounted crane. It consists of a ball switch S1 and a resistor R1. It changes the resistance value by detecting changes in the tilt angle, thereby generating a voltage signal.

[0018] The ADC module performs data conversion for the weighing and tilting sensing modules; it is responsible for converting the analog signals of weighing and tilting into digital signals, and providing a stable clock signal through oscillator U2 to ensure data sampling synchronization.

[0019] The PWM module adjusts the output torque of motor M1 through controller U3.

[0020] In a further embodiment, after the controller U3 is powered on, it initializes the ADC module, PWM module, and load cell calibration. The load cell U1 detects the load weight on the lifting device and outputs an analog voltage signal proportional to the weight. Transistor Q1 amplifies the sensor signal, capacitor C1 filters out high-frequency noise, and the ADC module converts the analog signal into a digital signal, which is then transmitted to the controller U3.

[0021] Controller U3 calculates the deceleration start distance based on weight. The expression for calculating the deceleration distance is as follows:

[0022]

[0023] In the formula, Indicates the deceleration distance. Load weight, Current motor speed, Safety factor, Effective braking force, trigger alarm when overweight, and start deceleration in advance.

[0024] In further embodiments, the oscillator U2 provides a stable clock signal for the ADC module, ensuring data sampling synchronization. The internal ball of the ball switch S1 moves with the tilt, changing the resistance value. The resistor R1 and the ball switch form a voltage dividing circuit, converting the resistance value change into a voltage signal,

[0025] When tilted, the ball moves closer to one of the electrodes, reducing the resistance value and increasing the voltage at the voltage dividing point. The voltage signal is converted and transmitted to the controller U3 through the ADC module.

[0026] In further embodiments, if the tilt angle is greater than the threshold value:

[0027] Left tilt: reduce the right motor PWM duty cycle, and the left motor maintains the speed;

[0028] Right tilt: reduce the left motor PWM duty cycle, and the right motor maintains the speed, dynamically adjusting until the tilt signal disappears,

[0029] The analog-to-digital converter U5 converts the weighing and tilting analog signals into digital signals. The capacitor C2 and resistor R2 form a low-pass filter to eliminate sampling noise. The transistor Q2 serves as an enable switch for the ADC module, controlled by the controller U3 for sampling timing. The timer U4 generates a PWM signal, with the frequency adjusted by the controller U3. The transistor Q3 amplifies the PWM signal to drive the motor M1. Diodes D1 / D2 provide freewheeling protection and absorb motor back electromotive force,

[0030] The controller U3 calculates the target PWM duty cycle based on the weight and tilt data.

[0031] Deceleration control: the greater the weight, the more gradual the reduction in duty cycle,

[0032] Correction control: when tilted, adjust the duty cycle of the motors on both sides differently.

[0033] In further embodiments, the weighing sensor U1 is model HBM PW15A; the transistors Q1 and Q2 are NPN; the analog-to-digital converter U5 is TI ADS1232; the oscillator U2 is EPSON SG-210STF; the timer U4 is ne555; the transistor Q3 is IRF540N; and the controller U3 is STM32F407VGT6.

[0034] Beneficial effects: The application proposes a crane adaptive speed reduction system and method based on variable frequency anti-shake, the weighing sensor U1 (such as a strain gauge sensor) in the weighing sensing module converts the hoisted weight into an electrical signal, which is output after amplification by the triode Q1, and the capacitor C1 filters high-frequency noise to ensure stable weight data, and provides accurate input for the deceleration distance and motor torque through real-time weighing data, avoiding heavy load impact or light load inefficiency.

[0035] The ball switch S1 internally contains a conductor ball and two electrodes (input and output), when the crane tilts, the ball moves in the switch cavity due to gravity, changing the contact state between the electrodes; the resistance R1 divides the voltage and transmits the tilt signal to the controller U3 for real-time detection of tilting and triggering of active correction (such as controlling one-sided motor operation to adjust the center of gravity) to prevent overturning.

[0036] The ADC module converts the analog signals of weighing and tilting into digital signals for processing by the controller U3, and the oscillator U2 provides a stable sampling clock to avoid data jitter; it processes multiple sensor data to improve system response speed and control accuracy.

[0037] The PWM module outputs a variable duty cycle square wave (such as a frequency of 1kHz) according to the instructions of the controller U3, which drives the motor through the transistor Q3, and the duty cycle is dynamically adjusted according to the load weight and inclination (such as reducing the duty cycle to reduce torque impact under heavy load), and the diodes D1 / D2 absorb the reverse electromotive force of the motor to protect the circuit, and stepless speed regulation is achieved through PWM, saving energy and reducing mechanical wear. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The overall operation framework of the application.

[0039] Figure 2 The weighing control logic diagram of the application.

[0040] Figure 3 The inclination correction logic diagram of the application.

[0041] Figure 4 The pwm dynamic adjustment coordination diagram of the application.

[0042] Figure 5 The system module circuit diagram of the application. DETAILED DESCRIPTION

[0043] To solve the problems existing in the prior art, the application provides a crane adaptive speed reduction system and method based on variable frequency anti-shake, the controller U3 receives the digital signals of the ADC module, and comprehensively calculates the weight, inclination and preset safety threshold, and realizes adaptive safety control through multi-parameter collaborative decision-making.

[0044] The scheme will be further specifically explained below by examples and in combination with drawings.

[0045] In the present application, a crane adaptive speed reduction system based on variable frequency anti-rolling is proposed, comprising:

[0046] Rail-mounted crane;

[0047] The weighing sensor module is installed at the bottom of the support motor, and comprises a weighing sensor U1, a triode Q1 and a capacitor C1.

[0048] The collector electrode end of the triode Q1 is connected with the input positive electrode end power supply +5V, the emitter electrode end of the triode Q1 is connected with the pin 1 of the weighing sensor U1, the pin 4 of the weighing sensor U1 is connected with one end of the capacitor C1, the other end of the capacitor C1 is connected with the pin 3 of the weighing sensor U1, and the pin 2 of the weighing sensor U1 is connected with the ground wire GND.

[0049] The inclination sensing module is installed on the rail-mounted crane, and comprises a ball switch S1 and a resistor R1, one end of the ball switch S1 is connected with the collector electrode end of the triode Q1, the other end of the ball switch S1 is connected with one end of the resistor R1, the other end of the resistor R1 is connected with the ground wire GND, and the ball switch S1 is internally provided with a conductor ball and two electrodes (an input end and an output end).

[0050] The ADC module is used for data conversion of the weighing sensor module and the inclination sensing module, and comprises an analog-digital converter U5, a resistor R2, a capacitor C2, a triode Q2 and an oscillator U2.

[0051] The pin 1 of the analog-digital converter U5 is connected with the collector electrode end of the triode Q1, the pin 10 of the controller U3 and the pin 4 of the oscillator U2, the pin 5 of the analog-digital converter U5 is connected with the collector electrode end of the triode Q2, the pin 46 of the controller U3 and the pin 8 of the oscillator U2, the pin 2 of the analog-digital converter U5 is connected with the base electrode end of the triode Q1, the pin 4 of the analog-digital converter U5 is connected with one end of the capacitor C1, the pin 7 of the analog-digital converter U5 is connected with the other end of the capacitor C1, the emitter electrode end of the triode Q2, the ground wire GND, the pin 5 of the oscillator U2, one end of the capacitor C2 and one end of the resistor R2; the other end of the capacitor C2 is connected with the pin 1 of the oscillator U2, the pins 2 and 6 of the oscillator U2 are connected with the other end of the resistor R1, the other end of the resistor R2 is connected with the pin 7 of the oscillator U2 and one end of the resistor R1, the base electrode end of the triode Q2 is connected with the pin 3 of the oscillator U2, the pin 14 of the analog-digital converter U5 is connected with the controller U316, the pin 11 of the analog-digital converter U5 is connected with the pin 11 of the controller U3, and the pin 3 of the analog-digital converter U5 is connected with the pin 1 of the weighing sensor U1.

[0052] The controller U3 receives the digital signal of the ADC module and calculates the deceleration parameter;

[0053] The PWM module adjusts the output torque of the motor M1 according to the controller U3; the PWM module comprises a diode D1, a diode D2, a timer U4, a transistor Q3 and a motor M1.

[0054] The negative terminal of the diode D1 is connected with the positive terminal of the diode D2 and the pin 8 of the timer U4, the positive terminal of the diode D1 is connected with the negative terminal of the diode D2, the pin 44 of the controller U3, the pins 2 and 1 of the timer U4, the pin 5 of the timer U4 is connected with the ground wire GND, the pin 7 of the timer U4 is connected with the pin 1 of the transistor Q3, the pin 2 of the transistor Q3 is connected with the ground wire GND, the pin 3 of the transistor Q3 is connected with one end of the motor M1, the other end of the motor M1 is connected with the input power supply V+, and the pin 8 of the timer U4 is connected with the pin 2 of the controller U3.

[0055] A crane adaptive deceleration method based on variable frequency anti-shake is used for driving a crane adaptive deceleration system based on variable frequency anti-shake, comprising,

[0056] The rail-mounted crane is used for transferring containers;

[0057] The weighing sensor module is used for acquiring the hoisting weight of the rail-mounted crane; the weight detection is realized through the weighing sensor U1, the triode Q1 and the capacitor C1, and an analog voltage signal proportional to the weight is outputted;

[0058] The inclination sensing module is used for acquiring the inclination angle of the rail-mounted crane, which is composed of a ball switch S1 and a resistor R1, the resistance value is changed by detecting the inclination angle change, and then a voltage signal is generated;

[0059] The ADC module converts data of the weighing sensor module and the inclination sensing module; the analog signals of the weighing and the inclination are converted into digital signals, and a stable clock signal is provided by the oscillator U2 to ensure the data sampling synchronization;

[0060] The PWM module adjusts the output torque of the motor M1 through the controller U3, so as to realize the deceleration control and the deviation correction control.

[0061] Firstly, the controller U3 is powered on to initialize the ADC module, the PWM module and the weighing sensor calibration; the weighing sensor U1 detects the load weight on the hoist, outputs an analog voltage signal proportional to the weight, the triode Q1 amplifies the sensor signal to improve the anti-interference ability, the capacitor C1 filters high-frequency noise (such as signal fluctuation caused by motor vibration), the ADC module converts the analog signal into a digital signal, and transmits the digital signal to the controller U3,

[0062] The controller U3 calculates the deceleration start distance according to the weight, and the controller U3 is expressed as follows by calculating the deceleration distance expression:

[0063]

[0064] In the formula, indicates the deceleration distance, indicates the load weight, indicates the current motor speed, indicates the safety factor (1.2-1.5), indicates the effective braking force (motor torque + mechanical braking), and when overweight, an alarm is triggered and the deceleration is started in advance.

[0065] The oscillator U2 provides a stable clock signal for the ADC module to ensure data sampling synchronization. The internal ball of the ball switch S1 moves with the tilt, changing the resistance value (the greater the tilt, the smaller the resistance value). The resistance R1 and the ball switch form a voltage dividing circuit to convert the resistance value change into a voltage signal. When tilted, the ball is close to an electrode → the resistance value decreases → the voltage at the voltage dividing point rises. The voltage signal is converted and transmitted to the controller U3 by the ADC module.

[0066] If the tilt angle > threshold (such as 5°):

[0067] Left tilt: reduce the right motor PWM duty cycle (decelerate), and the left motor maintains the speed;

[0068] Right tilt: reduce the left motor PWM duty cycle, and the right motor maintains the speed,

[0069] Dynamic adjustment until the tilt signal disappears (the ball returns to the middle). The analog-to-digital converter U5 converts the weighing and tilting analog signals into digital signals. The capacitor C2 and the resistor R2 form a low-pass filter to eliminate sampling noise. The transistor Q2 is used as an enable switch for the ADC module, and the sampling time is controlled by the controller U3. The timer U4 generates a PWM signal, and the frequency is adjusted by the controller U3. The transistor Q3 amplifies the PWM signal to drive the motor M1. The diodes D1 / D2 provide freewheeling protection and absorb the motor back electromotive force. The controller U3 calculates the target PWM duty cycle according to the weight and tilt data.

[0070] Deceleration control: the greater the weight, the more gentle the duty cycle reduction (prolonging the deceleration distance),

[0071] Correction control: when tilted, adjust the duty cycle of the motors on both sides.

[0072] Scenario 1: heavy load lifting: the weighing detects that the weight is out of limit → the controller U3 increases the deceleration distance → the PWM reduces the duty cycle, and the motor decelerates in advance.

[0073] Scenario 2: Sudden tilt in operation: ball switch detects right tilt → controller U3 reduces duty cycle of left motor → center of gravity of the hoisted object moves right, restoring balance.

[0074] While the application has been described and illustrated with reference to specific preferred embodiments, it is not intended that it be limited to these particulars. Various changes in form and detail can be made without departing from the spirit and scope of the application as defined by the appended claims.

Claims

1. A crane adaptive speed reduction system based on variable frequency anti-swing, characterized in that, It includes: Rail-mounted crane, weighing sensor module installed at the bottom of the support motor, tilt sensor module installed on the rail-mounted crane, ADC module for data conversion of weighing sensor module and tilt sensor module; Controller U3 receives digital signals of ADC module and calculates deceleration parameters; PWM module for adjusting output torque of motor M1 according to controller U3.

2. A crane adaptive speed reduction system based on variable frequency anti-swing according to claim 1, characterized in that, The weighing sensor module includes a weighing sensor U1, a triode Q1, and a capacitor C1. The collector terminal of the triode Q1 is connected with the input positive terminal power supply +5V. The emitter terminal of the triode Q1 is connected with pin 1 of the weighing sensor U1. Pin 4 of the weighing sensor U1 is connected with one end of the capacitor C1. The other end of the capacitor C1 is connected with pin 3 of the weighing sensor U1. Pin 2 of the weighing sensor U1 is connected with the ground wire GND.

3. The crane adaptive speed reduction system based on variable frequency anti-sway according to claim 1, characterized in that, The tilt sensor module includes a ball switch S1 and a resistor R1. One end of the ball switch S1 is connected with the collector terminal of the triode Q1. The other end of the ball switch S1 is connected with one end of the resistor R1. The other end of the resistor R1 is connected with the ground wire GND. The ball switch S1 is internally provided with a conductor ball and two electrodes.

4. The crane adaptive speed reduction system based on variable frequency anti-sway according to claim 1, characterized in that, The ADC module includes an analog-to-digital converter U5, a resistor R2, a capacitor C2, a triode Q2, and an oscillator U2. Pin 1 of the analog-to-digital converter U5 is connected with the collector terminal of the triode Q1, pin 10 of the controller U3, and pin 4 of the oscillator U2. Pin 5 of the analog-to-digital converter U5 is connected with the collector terminal of the triode Q2, pin 46 of the controller U3, and pin 8 of the oscillator U2. Pin 2 of the analog-to-digital converter U5 is connected with the base terminal of the triode Q1. Pin 4 of the analog-to-digital converter U5 is connected with one end of the capacitor C1. Pins 7 of the analog-to-digital converter U5 are connected with the other end of the capacitor C1, the emitter terminal of the triode Q2, the ground wire GND, pin 5 of the oscillator U2, one end of the capacitor C2, and one end of the resistor R2. The other end of the capacitor C2 is connected with pin 1 of the oscillator U2. Pins 2 and 6 of the oscillator U2 are connected with the other end of the resistor R1. The other end of the resistor R2 is connected with pin 7 of the oscillator U2 and one end of the resistor R1. The base terminal of the triode Q2 is connected with pin 3 of the oscillator U2. Pin 14 of the analog-to-digital converter U5 is connected with pin 16 of the controller U3. Pin 11 of the analog-to-digital converter U5 is connected with pin 11 of the controller U3. Pin 3 of the analog-to-digital converter U5 is connected with pin 1 of the weighing sensor U1.

5. The crane adaptive speed reduction system based on variable frequency anti-sway according to claim 1, characterized in that, The PWM module comprises diode D1, diode D2, timer U4, transistor Q3 and motor M1, the negative poles of the diodes D1 are connected with the positive poles of diodes D2 and the pin 8 of the timer U4, the positive poles of the diodes D1 are connected with the negative poles of diodes D2, the pin 44 of the controller U3, the pins 2 and 1 of the timer U4, the pin 5 of the timer U4 is connected with the ground wire GND, the pin 7 of the timer U4 is connected with the pin 1 of the transistor Q3, the pin 2 of the transistor Q3 is connected with the ground wire GND, the pin 3 of the transistor Q3 is connected with one end of the motor M1, the other end of the motor M1 is connected with the input power supply V+, the pin 8 of the timer U4 is connected with the pin 2 of the controller U3.

6. A crane adaptive speed reduction method based on variable frequency anti-swing, used for driving the crane adaptive speed reduction system based on variable frequency anti-swing in any one of claims 1-5, characterized in that, It comprises, The rail-mounted crane is used for transferring containers; The weighing sensor module is used for acquiring the hoisting weight of the rail-mounted crane; the weight is detected through the weighing sensor U1, the triode Q1 and the capacitor C1, and an analog voltage signal proportional to the weight is outputted; The inclination sensor module is used for acquiring the inclination angle of the rail-mounted crane, which is composed of the ball switch S1 and the resistor R1, the resistance value is changed by detecting the inclination angle change, and then the voltage signal is generated; The ADC module converts the data of the weighing sensor module and the inclination sensor module; the analog signals of the weighing and the inclination are converted into digital signals, and a stable clock signal is provided by the oscillator U2 to ensure the data sampling synchronization; The PWM module adjusts the output torque of the motor M1 through the controller U3.

7. The crane adaptive speed reduction method based on variable frequency anti-swing according to claim 6, characterized in that, After the controller U3 is powered on, the ADC module, the PWM module and the weighing sensor calibration are initialized, the weighing sensor U1 detects the load weight on the spreader, outputs an analog voltage signal proportional to the weight, the triode Q1 amplifies the sensor signal, the capacitor C1 filters high-frequency noise, the ADC module converts the analog signal into a digital signal, and transmits it to the controller U3, The controller U3 calculates the deceleration starting distance according to the weight, and the controller U3 calculates the deceleration distance as follows: wherein, represents deceleration distance, represents load weight, represents current motor speed, represents safety factor, represents effective braking force, triggers alarm when overloaded, and initiates deceleration in advance.

8. The crane adaptive speed reduction method based on variable frequency anti-sway according to claim 7, characterized in that, The oscillator U2 provides a stable clock signal for the ADC module to ensure data sampling synchronization, the ball inside the ball switch S1 moves with the inclination, changes the resistance value, and the resistor R1 and the ball switch form a voltage dividing circuit, which converts the resistance value change into a voltage signal, When the inclination, the ball is close to an electrode → the resistance value decreases → the voltage of the voltage dividing point rises, and the voltage signal is converted and transmitted to the controller U3 through the ADC module.

9. The crane adaptive speed reduction method based on variable frequency anti-sway according to claim 8, characterized in that, If the inclination angle > threshold value: Left inclination: reduce the right motor PWM duty cycle, and keep the left motor speed; Right inclination: reduce the left motor PWM duty cycle, and keep the right motor speed, dynamically adjust until the inclination signal disappears, The analog-to-digital converter U5 converts the analog signals of the weighing and the inclination into digital signals, the capacitor C2 and the resistor R2 form a low-pass filter to eliminate sampling noise, the triode Q2 is used as the enable switch of the ADC module, the sampling time is controlled by the controller U3, the timer U4 generates a PWM signal, the frequency is adjusted by the controller U3, the transistor Q3 amplifies the PWM signal to drive the motor M1, and the diodes D1 / D2 provide freewheeling protection to absorb the motor back electromotive force, The controller U3 calculates the target PWM duty cycle according to the weight and inclination data; Speed control: the heavier the weight, the less the duty cycle decreases, Correction control: when tilted, the difference adjusts the duty cycle of both sides of the motor.

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