Portal crane vibration online monitoring system

Abstract

The application discloses a kind of portal crane vibration online monitoring systems, comprising: vibration monitoring unit: for the vibration signal of the key structure part of portal crane is collected, and processing, it is judged to obtain whether the abnormal vibration of the key structure part of portal crane exists;PLC control unit: for receiving the abnormal vibration degree of the key structure part of portal crane transmitted by vibration monitoring unit, when generating the control signal of inhibiting or eliminating the abnormal vibration of the key structure part of portal crane;Drive unit: for receiving the control signal transmitted by the PLC control unit, the action control of the luffing mechanism, hoisting mechanism, slewing mechanism, cart mechanism of portal crane is realized.The application is by real-time acquisition vibration data of key position, vibration characteristics are analyzed in combination with intelligent algorithm, and based on monitoring result dynamic adjustment equipment operating parameter, active inhibition to abnormal vibration is realized.

Description

Technical Field

[0001] This invention belongs to the technical field of gantry cranes and relates to an online vibration monitoring system for gantry cranes. Background Technology

[0002] Gantry cranes are heavy-duty lifting equipment widely used in ports and shipyards. Their structural features include a tall portal frame and slewing, luffing, and hoisting mechanisms, enabling them to efficiently handle large-scale material handling tasks. However, in actual operation, factors such as mechanical resonance, improper acceleration / deceleration parameter settings, and sudden changes in external loads often cause abnormal vibrations in the hoisting mechanism. These vibrations not only reduce the equipment's operational accuracy but can also lead to structural fatigue damage, seriously threatening the crane's safety and stability. Summary of the Invention

[0003] To solve the above problems, the technical solution adopted by the present invention is: an online vibration monitoring system for gantry cranes, comprising:

[0004] Vibration monitoring unit: used to collect vibration signals from key structural parts of the gantry crane, process and judge whether there is abnormal vibration in the key structural parts of the gantry crane; PLC control unit: Used to receive the abnormal vibration level of key parts of the gantry crane structure transmitted by the vibration monitoring unit, and generate control signals to suppress or eliminate abnormal vibration of key parts of the gantry crane structure. Drive unit: Used to receive control signals transmitted by the PLC control unit to realize the motion control of the luffing mechanism, hoisting mechanism, slewing mechanism and trolley mechanism of the gantry crane.

[0005] Furthermore: the vibration monitoring unit includes: Vibration acquisition unit: used to acquire vibration data of key structural components of the gantry crane; these key components include the elephant trunk hinge point, slewing bearing, sea-land side gantry legs, sea-land side trolley, luffing mechanism reducer in the machine room, hoisting mechanism reducer, etc. Data acquisition unit: used to transmit vibration signals from key structural parts acquired by the vibration acquisition unit; Vibration monitoring server: used to process the vibration signals of key structural parts transmitted by the data acquisition device, and to determine whether there is abnormal vibration in the key structural parts of the gantry crane.

[0006] Furthermore: the vibration acquisition unit includes: The vibration acquisition unit includes an elephant trunk bridge vibration acquisition subunit: used to acquire vibrations from multiple parts of the elephant trunk bridge. Slewing bearing vibration acquisition subunit: used for acquiring vibration data from slewing bearings; The vibration acquisition subunit for the land-sea side gate leg is used to acquire vibration data from multiple parts of the land-sea side gate leg. The vibration acquisition subunit of the land-sea side trolley is used to acquire vibration data from multiple parts of the land-sea side trolley. Reducer vibration acquisition subunit: used to acquire vibration data from multiple reducers.

[0007] Furthermore: the elephant trunk bridge vibration acquisition subunit includes: The first vibration acquisition sensor is used to acquire vibrations at the pivot point at the root of the object's nose. The second vibration acquisition sensor is used to acquire the vibration of the No. 1 hinge point at the root of the object's nose. The third vibration acquisition sensor is used to acquire the vibration of the No. 2 hinge point at the root of the object's nose. The fourth vibration acquisition sensor is used to acquire vibration data at the #3 pivot point at the root of the object's nose. The fifth vibration acquisition sensor is used to acquire the vibration of the top pulley on the bridge of the nose of the object; The slewing bearing vibration acquisition subunit includes: The sixth vibration acquisition sensor: used to acquire the vibration of the slewing bearing; The vibration acquisition subunit for the land-sea side portal legs includes: The seventh vibration acquisition sensor is used to acquire vibration data of the first gate leg on the sea side. The eighth vibration acquisition sensor is used to acquire vibration data of the second leg on the sea side. Ninth vibration acquisition sensor: used to acquire vibration data of the first gate leg on the landside; The tenth vibration acquisition sensor: used to acquire vibration data of the second landside gate leg; The vibration acquisition subunit for the land-sea side trolley includes: The eleventh vibration acquisition sensor: used to acquire the vibration of the first vehicle on the sea side; The twelfth vibration acquisition sensor: used to acquire the vibration of the second vehicle on the sea side; The thirteenth vibration acquisition sensor: used to acquire the vibration of the first vehicle on the landside; The fourteenth vibration acquisition sensor: used to acquire the vibration of the second vehicle on the landside; The reducer vibration acquisition subunit includes: The fifteenth vibration acquisition sensor: used to acquire the vibration of the reducer of the amplitude transformer mechanism; The sixteenth vibration acquisition sensor is used to acquire vibration data from the reducer of the hoisting mechanism.

[0008] Furthermore: the process for processing the vibration signals of the key structural parts transmitted by the data acquisition device to determine whether there is abnormal vibration in the key structural parts of the gantry crane is as follows: When the trolley mechanism of the gantry crane moves, the same abnormal vibration judgment method is used for the seventh to fourteenth vibration acquisition sensors, as follows: If 1.1 K 标准a >K 实际a ≥1.05 K 标准a The vibration acquisition sensor is used to determine whether the abnormal vibration of the corresponding key structural part has reached the alarm level. If K 实际a ≥1.1 K 标准a The abnormal vibration of the corresponding key structural parts monitored by the vibration acquisition sensor is determined to have reached the level of a fault. Where K 实际a K represents the vibration amplitude value monitored in real time by any one of the seventh to fourteenth vibration acquisition sensors; 标准a The vibration amplitude value of any one of the seventh to fourteenth vibration sensors during normal operation; When the luffing mechanism of the gantry crane is activated, the same anomaly detection method is used for the data from the first vibration acquisition sensor to the fifth vibration acquisition sensor and the fifteenth vibration acquisition sensor. If 1.1 K 标准b >K 实际b ≥1.05 K 标准b The vibration acquisition sensor is used to determine whether the abnormal vibration of the corresponding key structural part has reached the alarm level. If K 实际b ≥1.1 K 标准b The abnormal vibration of the corresponding key structural parts monitored by the vibration acquisition sensor is determined to have reached the level of a fault. Where K 实际b K represents the vibration amplitude value monitored in real time by any one of the vibration acquisition sensors (first to fifth and fifteenth vibration acquisition sensors); 标准b The vibration amplitude value of any one of the vibration acquisition sensors, from the first to the fifth and the fifteenth vibration acquisition sensors, during normal operation; When the hoisting mechanism of the gantry crane operates, the data from the first to the fifth vibration acquisition sensors and the sixteenth vibration acquisition sensor are monitored in real time. If 1.1 K 标准c >K 实际c ≥1.05 K 标准c The system determines that any one of the vibration acquisition sensors (first to fifth and fifteenth) has detected abnormal vibrations in the corresponding key structural parts, which has reached the alarm level. If K 实际c ≥1.1 K 标准c The abnormal vibration of the corresponding key structural part monitored by any one of the vibration acquisition sensors (first to fifth and fifteenth) reaches the level of a fault. Where: K 实际c K represents the vibration amplitude value monitored in real time by any one of the vibration acquisition sensors (first to fifth and fifteenth vibration acquisition sensors); 标准c The vibration amplitude value of any one of the vibration acquisition sensors, from the first to the fifth and the fifteenth vibration acquisition sensors, during normal operation; When the slewing mechanism of the gantry crane operates, the sixth vibration acquisition sensor is monitored in real time. If 1.1 K 标准d >K 实际d ≥1.05 K 标准d The system determines that the abnormal vibration of the corresponding key structural part monitored by the sixth vibration acquisition sensor has reached the alarm level. If K 实际d ≥1.1 K 标准d The abnormal vibration of the corresponding key structural part monitored by the sixth vibration acquisition sensor is determined to have reached the level of a fault. Where K 实际d K represents the vibration amplitude value monitored in real time by the sixth vibration acquisition sensor. 标准d This represents the vibration amplitude value when the sixth vibration acquisition sensor is operating normally.

[0009] Furthermore: the process of generating a control signal to suppress or eliminate the abnormal vibration of the key parts of the gantry crane structure based on the abnormal vibration level transmitted by the vibration monitoring unit is as follows: When the gantry crane's trolley mechanism reaches an alarm or fault level during its acceleration and deceleration phases, if the vibration amplitude value monitored in real-time by any of the seven to fourteenth vibration sensors reaches the alarm or fault level, the acceleration and deceleration values ​​of the trolley mechanism will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted acceleration and deceleration values ​​a of the trolley mechanism 大车调整 =K a a 大车 ; Where: K a The vibration suppression optimization coefficient for the acceleration and deceleration phases of the trolley mechanism is set to 0.8, a. 大车 These are the acceleration and deceleration values ​​before the adjustment of the trolley mechanism; When the gantry crane's trolley mechanism is running at a constant speed, and the vibration amplitude value monitored in real time by any one of the vibration acquisition sensors (seventh to fourteenth vibration acquisition sensors) reaches the alarm or fault level, the trolley mechanism's running speed will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: The optimized and adjusted running speed value V of the trolley mechanism 大车调整 =K A V 大车 The speed value corresponding to the vibration amplitude reaching the alarm or fault level will be added to the given speed shielding zone of the trolley mechanism. In subsequent operation of the trolley mechanism, the speed setpoint in the given shielding zone will be controlled according to the optimized and adjusted operating speed value. Where: K A The vibration suppression optimization coefficient for the trolley mechanism during uniform motion is set to 0.95. 大车 This refers to the operating speed value of the trolley mechanism before adjustment.

[0010] When the luffing mechanism of a gantry crane reaches an alarm or fault level in real-time monitoring by any one of the first to fifth vibration sensors or the fifteenth vibration sensor during its acceleration and deceleration phases, the acceleration and deceleration values ​​of the luffing mechanism will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted acceleration / deceleration values ​​a of the variable amplitude mechanism 变幅调整 =K b a 变幅 ; Where: K b The vibration suppression optimization coefficient for the acceleration and deceleration phases of the amplitude-changing mechanism is set to 0.8, a. 变幅 These are the acceleration and deceleration values ​​of the luffing mechanism before adjustment. When the luffing mechanism of a gantry crane reaches an alarm or fault level during its uniform speed operation phase, if the vibration amplitude value monitored in real time by any one of the first to fifth vibration sensors or the fifteenth vibration sensor reaches the level required for an alarm, the operating speed of the luffing mechanism will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted operating speed value V of the luffing mechanism变幅调整 =K B V 变幅 The speed value corresponding to the vibration amplitude reaching the alarm or fault level is added to the speed setpoint shielding zone of the luffing mechanism. In subsequent operation of the luffing mechanism, the speed setpoint in the setpoint shielding zone is controlled according to the optimized and adjusted operating speed value. Where: K B The vibration suppression optimization coefficient for the constant velocity motion phase of the amplitude-changing mechanism is set to 0.95. 变幅 This is the operating speed value of the luffing mechanism before adjustment.

[0011] When the hoisting mechanism of a gantry crane reaches an alarm or fault level during its acceleration and deceleration phase, if the vibration amplitude value monitored in real time by any one of the first to fifth vibration sensors or the sixteenth vibration sensor reaches the alarm or fault level, the PLC control unit will optimize and adjust the acceleration and deceleration values ​​of the hoisting mechanism to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted hoisting mechanism acceleration and deceleration values ​​a 起升调整 =K c a 起升 ; Where K c The vibration suppression optimization coefficient for the hoisting mechanism during acceleration and deceleration is set to 0.8, a. 起升 These are the acceleration and deceleration values ​​before the hoisting mechanism is adjusted.

[0012] When the hoisting mechanism of a gantry crane reaches an alarm or fault level during its uniform speed operation phase, if the vibration amplitude value monitored in real time by any one of the first to fifth vibration sensors or the sixteenth vibration sensor reaches the level required for an alarm, the hoisting mechanism's operating speed will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted hoisting mechanism operating speed value V 起升调整 =K C V 起升 The speed value corresponding to the vibration amplitude reaching the alarm or fault level will be added to the hoisting mechanism's operating speed setpoint shielding zone. Subsequently, when the hoisting mechanism is running, the speed setpoint in the setpoint shielding zone will be controlled according to the optimized and adjusted operating speed value. Where K C The vibration suppression optimization coefficient for the hoisting mechanism during uniform motion is set to 0.95. 起升 This is the operating speed value of the hoisting mechanism before adjustment.

[0013] When the slewing mechanism of a gantry crane reaches an alarm or fault level as monitored in real time by the sixth vibration acquisition sensor during its acceleration and deceleration phase, the acceleration and deceleration values ​​of the slewing mechanism will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted acceleration / deceleration values ​​a of the slewing mechanism 回转调整 =K d a 回转 ; Where K d The vibration suppression optimization coefficient for the acceleration and deceleration phases of the rotary mechanism is set to 0.8, a. 回转 These are the acceleration and deceleration values ​​before the adjustment of the slewing mechanism.

[0014] When the slewing mechanism of the gantry crane reaches an alarm or fault level as monitored in real time by the sixth vibration acquisition sensor during its uniform speed operation, the slewing mechanism's operating speed will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted operating speed value V of the slewing mechanism 回转调整 =K D V 回转 The speed value corresponding to the vibration amplitude reaching the alarm or fault level is added to the speed setpoint shielding zone of the slewing mechanism. In subsequent operation of the slewing mechanism, the speed setpoint in the setpoint shielding zone is controlled according to the optimized and adjusted operating speed value. Where: K D The vibration suppression optimization coefficient for the uniform motion phase of the rotary mechanism is set to 0.95, V. 回转 This is the operating speed value of the slewing mechanism before adjustment.

[0015] This invention provides an online vibration monitoring system for gantry cranes. By collecting vibration data from key components in real time, combining this data with intelligent algorithms to analyze vibration characteristics, and dynamically adjusting equipment operating parameters based on the monitoring results, it achieves proactive suppression of abnormal vibrations. This solution will effectively improve the operational reliability of gantry cranes and provide technical support for the intelligent operation and maintenance of heavy port equipment.

[0016] The present invention provides an online vibration monitoring system for gantry cranes, which has a simple structure, strong practicality, high real-time vibration monitoring performance, and accurate results. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a component layout diagram of an online vibration monitoring system for gantry cranes; Figure 2 This is a diagram of the architecture of an online vibration monitoring system for gantry cranes. Figure 3 This is the wiring diagram for the PLC control unit; Figure 4 This is the wiring diagram for the drive unit; Figure 5 This is the wiring diagram for the vibration monitoring unit; Figure 6 This is the control flowchart of the online vibration monitoring system for gantry cranes.

[0019] Reference numerals: 1. Vibration monitoring unit; 2. PLC control unit; 3. Drive unit; 4. Vibration monitoring server; 5. Data acquisition unit; 6. First vibration acquisition sensor; 7. Second vibration acquisition sensor; 8. Third vibration acquisition sensor; 9. Fourth vibration acquisition sensor; 10. Fifth vibration acquisition sensor; 11. Sixth vibration acquisition sensor; 12. Seventh vibration acquisition sensor; 13. Eighth vibration acquisition sensor; 14. Ninth vibration acquisition sensor; 15. Tenth vibration acquisition sensor; 16. ... 11. Vibration acquisition sensor; 17. Vibration acquisition sensor; 18. Vibration acquisition sensor; 13. Vibration acquisition sensor; 19. Vibration acquisition sensor; 14. Vibration acquisition sensor; 20. Vibration acquisition sensor; 21. Vibration acquisition sensor; 16. Vibration acquisition sensor; 22. PLC module; 23. Switch; 24. Luffing mechanism frequency converter; 25. Hoisting mechanism frequency converter; 26. Slewing mechanism frequency converter; 27. Trolley mechanism frequency converter; 28. Luffing mechanism motor; 29. ​​Hoisting mechanism motor; 30. Slewing mechanism motor; 31. Trolley mechanism motor. Detailed Implementation

[0020] It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] A gantry crane vibration online monitoring system includes a vibration monitoring unit 1, a PLC control unit 2, and a drive unit 3, arranged as follows: Figure 1 As shown.

[0023] Vibration monitoring unit 1: Used to process the vibration signals of the key structural parts of the gantry crane and determine whether there is abnormal vibration in the key structural parts of the gantry crane. PLC control unit 2: Used to receive the abnormal vibration level of key parts of the gantry crane structure transmitted by vibration monitoring unit 1, and generate control signals to suppress or eliminate abnormal vibration of key parts of the gantry crane structure. Drive unit 3: Used to receive control signals transmitted by the PLC control unit 2 to realize the motion control of the luffing mechanism, hoisting mechanism, slewing mechanism and trolley mechanism of the gantry crane.

[0024] The vibration monitoring unit 1 includes: Vibration acquisition unit: used to acquire vibration data of key structural components of the gantry crane; these key components include the elephant trunk hinge point, slewing bearing, sea-land side gantry legs, sea-land side trolley, luffing mechanism reducer in the machine room, hoisting mechanism reducer, etc. Data acquisition unit 5: used to transmit vibration signals from key structural parts acquired by the vibration acquisition unit; Vibration monitoring server 4: used to process the vibration signals of key structural parts transmitted by the data acquisition device 5, obtain the real-time vibration level of each key structural part during the operation of the gantry crane, and transmit this result to the PLC control unit 2.

[0025] Vibration monitoring server 4 and data acquisition unit 5 are installed in the PLC room; The vibration acquisition unit includes an elephant trunk bridge vibration acquisition subunit: used to acquire vibrations from multiple parts of the elephant trunk bridge. Slewing bearing vibration acquisition subunit: used for acquiring vibration data from slewing bearings; The vibration acquisition subunit for the land-sea side gate leg is used to acquire vibration data from multiple parts of the land-sea side gate leg. The vibration acquisition subunit of the land-sea side trolley is used to acquire vibration data from multiple parts of the land-sea side trolley. Reducer vibration acquisition subunit: used to acquire vibration data from multiple reducers; The elephant trunk bridge vibration acquisition subunit includes: First vibration acquisition sensor 6: used to acquire vibrations at the pivot point at the root of the object's nose; Second vibration acquisition sensor 7: used to acquire vibration at the #1 hinge point at the root of the object's nose; Third vibration acquisition sensor 8: used to acquire vibration at the #2 hinge point at the root of the object's nose; Fourth vibration acquisition sensor 9: used to acquire vibration at the 3# hinge point at the root of the object's nose; Fifth vibration acquisition sensor 10: used to acquire the vibration of the top pulley of the object's nose bridge; The slewing bearing vibration acquisition subunit includes: The sixth vibration acquisition sensor 11 is used to acquire the vibration of the slewing bearing; The vibration acquisition subunit for the land-sea side portal legs includes: Seventh vibration acquisition sensor 12: used to acquire vibration data of the first gate leg on the sea side; Eighth vibration acquisition sensor 13: used to acquire vibration data of the second gate leg on the sea side; Ninth vibration acquisition sensor 14: used to acquire vibration data of the first gate leg on the landside; Tenth vibration acquisition sensor 15: used to acquire vibration data of the second landside gate leg; The vibration acquisition subunit for the land-sea side trolley includes: Eleventh vibration acquisition sensor 16: used to acquire the vibration of the first vehicle on the sea side; The twelfth vibration acquisition sensor 17 is used to acquire the vibration of the second vehicle on the sea side; The thirteenth vibration acquisition sensor 18 is used to acquire the vibration of the first vehicle on the landside. Fourteenth vibration acquisition sensor 19: used to acquire vibration data of the second vehicle on the landside; The reducer vibration acquisition subunit includes: The fifteenth vibration acquisition sensor 20 is used to acquire the vibration of the reducer of the amplitude transformer mechanism; The sixteenth vibration acquisition sensor 21 is used to acquire the vibration of the reducer of the hoisting mechanism; The PLC control unit 2 includes a PLC module 22 and a switch 23 installed in the PLC room, which are used to receive monitoring data from the vibration monitoring unit 1 and control the drive unit 3 to perform corresponding control actions. The PLC module 22 receives abnormal vibration data of key parts of the gantry crane structure from the vibration monitoring unit 1 transmitted via the switch 23, and sends corresponding control commands to the drive unit 3 via the switch 23 to control the luffing mechanism, hoisting mechanism, slewing mechanism and trolley mechanism to achieve corresponding control actions, thereby suppressing or eliminating abnormal vibration of key parts of the gantry crane structure. Switch 23: Used for data transmission between PLC control unit 2, drive unit 3, and vibration monitoring unit 1.

[0026] The drive unit 3 includes a variable amplitude mechanism motor 28: used to provide power to the variable amplitude mechanism; Hoisting mechanism motor 29: Used to provide power to the hoisting mechanism; Rotary mechanism motor 30: used to provide power to the rotating structure; Trolley mechanism motor 31: Used to provide power to the trolley structure; The luffing mechanism motor 28 and the hoisting mechanism motor 29 are installed in the machine room; the slewing mechanism motor 30 is installed on the slewing structure; and the trolley mechanism motor 31 is installed on the trolley structure. The frequency converter 24 of the luffing mechanism is used to drive the motor 28 of the luffing mechanism to rotate in the forward and reverse directions by receiving control commands from the PLC control unit 2, thereby realizing the lifting and lowering actions of the luffing mechanism. Hoisting mechanism frequency converter 25: used to drive the hoisting mechanism motor 29 to rotate in the forward and reverse directions by receiving control commands from the PLC control unit 2, thereby realizing the lifting and lowering actions of the hoisting mechanism; Rotary mechanism frequency converter 26: used to drive the rotary mechanism motor 30 to rotate in the forward and reverse directions by receiving control commands from the PLC control unit 2, thereby realizing the clockwise and counterclockwise operation of the rotary mechanism; Trolley mechanism frequency converter 27: Used to drive trolley mechanism motor 31 to rotate in the forward and reverse directions by receiving control commands from PLC control unit 2, thereby realizing the forward and backward movements of trolley mechanism.

[0027] Example 1: Online vibration monitoring system for gantry cranes, such as Figure 2 As shown, it consists of three parts: PLC control unit 2, drive unit 3, and vibration monitoring unit 1.

[0028] The vibration monitoring unit 1 consists of a vibration monitoring server 4, a data acquisition unit 5, and vibration monitoring units 1 installed at various key structural parts of the gantry crane, such as... Figure 5As shown, the vibration monitoring unit 1 is an accelerometer that outputs a 4-20mA signal. The vibration monitoring sensors installed on the key structural parts of the gantry crane transmit the monitoring data to the data acquisition unit 5 in the form of hardwire. The data acquisition unit 5 is equipped with 16 AI signal receiving channels. After receiving the data from the vibration monitoring sensor, it transmits it to the vibration monitoring server 4 in the form of Profinet protocol. The vibration monitoring server 4 processes the received vibration monitoring sensor data to determine the real-time vibration level of each key structural part during the operation of the gantry crane, and determines whether there is abnormal vibration. The result is then transmitted to the PLC control unit 2U1 via the Profinet protocol.

[0029] The vibration monitoring sensors for the gantry crane collect real-time vibration data for each key structural component in the following order: First vibration acquisition sensor 6: hinge point at the root of the elephant's trunk; Second vibration acquisition sensor 7: Elephant Trunk Bridge No. 1 hinge point; Third vibration acquisition sensor 8: Elephant Trunk Bridge No. 2 hinge point; Fourth vibration acquisition sensor 9: Elephant Trunk Bridge #3 hinge point; Fifth vibration acquisition sensor 10: pulley at the top of the elephant trunk; Sixth vibration acquisition sensor 11: slewing bearing; Seventh vibration acquisition sensor 12: Left door leg on the sea side; Eighth vibration acquisition sensor 13: Right gate leg on the sea side; Ninth vibration acquisition sensor 14: Landside left door leg; Tenth vibration acquisition sensor 15: Landside right gate leg; Eleventh vibration acquisition sensor 16: Left trolley on the sea side; Twelfth vibration acquisition sensor 17: Right trolley on the sea side; The thirteenth vibration acquisition sensor 18: Landside left trolley; Fourteenth vibration acquisition sensor 19: Landside right trolley; The fifteenth vibration acquisition sensor 20: Amplitude variator reducer; Sixteenth vibration acquisition sensor 21: hoisting mechanism reducer.

[0030] The PLC control unit 2 consists of a PLC module 22 and a switch 23, such as Figure 3As shown, the PLC module 22 transmits control commands via the switch 23 to the frequency converters 24 of the luffing mechanism, 25 of the hoisting mechanism, 26 of the slewing mechanism, and 27 of the trolley mechanism in the drive unit 3 using the Profinet protocol; the PLC module 22 receives the monitoring results of the vibration monitoring server 4 in the vibration monitoring unit 1 via the switch 23 using the Profinet protocol; the switch 23 supports the Profinet protocol and is used for data transmission between the PLC control unit 2, the drive unit 3, and the vibration monitoring unit 1.

[0031] like Figure 4 As shown, the drive unit 3 includes a luffing mechanism frequency converter 24, a hoisting mechanism frequency converter 25, a slewing mechanism frequency converter 26, a trolley mechanism frequency converter 27, a luffing mechanism motor 28, a hoisting mechanism motor 29, a slewing mechanism motor 30, and a trolley mechanism motor 31. The frequency converter 24 of the luffing mechanism receives control commands from the PLC control unit 2 and drives the motor 28 of the luffing mechanism to rotate in the forward and reverse directions in a hard-wired manner, thereby realizing the lifting and lowering actions of the luffing mechanism. The hoisting mechanism frequency converter 25 receives control commands from the PLC control unit 2 and drives the hoisting mechanism motor 29 to rotate in the forward and reverse directions in a hard-wired manner, thereby realizing the lifting and lowering actions of the hoisting mechanism. The rotary mechanism frequency converter 26 receives control commands from the PLC control unit 2 and drives the rotary mechanism motor 30 to rotate in the forward and reverse directions in a hard-wired manner, thereby realizing the clockwise and counterclockwise operation of the rotary mechanism. The trolley mechanism frequency converter 27 receives control commands from the PLC control unit 2U1 and drives the trolley mechanism motor 31 to rotate in the forward and reverse directions in a hard-wired manner, thereby realizing the forward and backward movements of the trolley mechanism.

[0032] The process for processing the vibration signals transmitted by the data acquisition device 5 to determine whether there is abnormal vibration in the key structural parts of the gantry crane is as follows: When the trolley mechanism of the gantry crane moves, the same abnormal vibration judgment method is used for the seventh vibration acquisition sensor 12 to the fourteenth vibration acquisition sensor 19, as follows: If 1.1 K 标准a >K 实际a ≥1.05 K 标准a The vibration acquisition sensor is used to determine whether the abnormal vibration of the corresponding key structural part has reached the alarm level. If K 实际a ≥1.1 K 标准aThe abnormal vibration of the corresponding key structural parts monitored by the vibration acquisition sensor is determined to have reached the level of a fault. Where K 实际a K represents the vibration amplitude value monitored in real time by any one of the seventh vibration acquisition sensors 12 to the fourteenth vibration acquisition sensors 19; 标准a The vibration amplitude value of any one of the seventh vibration acquisition sensors 12 to the fourteenth vibration sensors during normal operation; When the luffing mechanism of the gantry crane is activated, the same anomaly detection method is used for the data from the first vibration acquisition sensor 6 to the fifth vibration acquisition sensor 10 and the fifteenth vibration acquisition sensor 20. If 1.1 K 标准b >K 实际b ≥1.05 K 标准b The vibration acquisition sensor is used to determine whether the abnormal vibration of the corresponding key structural part has reached the alarm level. If K 实际b ≥1.1 K 标准b The abnormal vibration of the corresponding key structural parts monitored by the vibration acquisition sensor is determined to have reached the level of a fault. Abnormal vibration is defined as either reaching the alarm level or reaching the fault level. Where K 实际b K represents the vibration amplitude value monitored in real time by any one of the following vibration acquisition sensors: the first vibration acquisition sensor 6 to the fifth vibration acquisition sensor 10 and the fifteenth vibration acquisition sensor 20; 标准b The vibration amplitude value of any one of the vibration acquisition sensors 6 to 10 and 20 during normal operation; When the hoisting mechanism of the gantry crane operates, the data from the first vibration acquisition sensor 6 to the fifth vibration acquisition sensor 10 and the sixteenth vibration acquisition sensor 21 are monitored in real time. If 1.1 K 标准c >K 实际c ≥1.05 K 标准c The system determines that any one of the vibration acquisition sensors, from the first vibration acquisition sensor 6 to the fifth vibration acquisition sensor 10 and the fifteenth vibration acquisition sensor 20, has reached the alarm level for the corresponding key structural part. If K 实际c ≥1.1 K 标准cThe abnormal vibration of the corresponding key structural part monitored by any one of the first vibration acquisition sensors 6 to the fifth vibration acquisition sensor 10 and the fifteenth vibration acquisition sensor 20 reaches the fault level. Where: K 实际c K represents the vibration amplitude value monitored in real time by any one of the following vibration acquisition sensors: the first vibration acquisition sensor 6 to the fifth vibration acquisition sensor 10 and the fifteenth vibration acquisition sensor 20; 标准c The vibration amplitude value of any one of the vibration acquisition sensors 6 to 10 and 20 during normal operation; When the slewing mechanism of the gantry crane operates, the sixth vibration acquisition sensor 11 is monitored in real time. If 1.1 K 标准d >K 实际d ≥1.05 K 标准d The abnormal vibration of the corresponding key structural part monitored by the sixth vibration acquisition sensor 11 has reached the alarm level. If K 实际d ≥1.1 K 标准d The abnormal vibration of the corresponding key structural part monitored by the sixth vibration acquisition sensor 11 is determined to have reached the fault level. Where K 实际d The vibration amplitude value monitored in real time by the sixth vibration acquisition sensor 11; K 标准d This is the vibration amplitude value of the sixth vibration acquisition sensor 11 during normal operation.

[0033] This technology actively suppresses abnormal vibrations by collecting vibration data from key components in real time, analyzing vibration characteristics using intelligent algorithms, and dynamically adjusting equipment operating parameters based on the monitoring results. This solution will effectively improve the operational reliability of gantry cranes and provide technical support for the intelligent operation and maintenance of heavy port equipment.

[0034] Taking a 40t grab bucket gantry crane as an example, the control method of the online vibration monitoring system for gantry cranes is explained. The control flow of the online vibration monitoring system for gantry cranes is as follows: Figure 6 As shown: Step 1: Unloading operation begins, and the online vibration monitoring system for the gantry crane is activated; Step 2: The vibration monitoring sensor begins data sampling, and the real-time vibration level assessment function is activated; Step 3: When the gantry crane's trolley mechanism reaches an alarm or fault level during its acceleration and deceleration phase, if any of the vibration sensors (7th to 14th vibration sensors 19) monitors the vibration amplitude during real-time operation, the acceleration and deceleration values ​​of the trolley mechanism will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted acceleration and deceleration values ​​a of the trolley mechanism 大车调整 =K a a 大车 ; Where: K a The vibration suppression optimization coefficient for the acceleration and deceleration phases of the trolley mechanism is set to 0.8, a. 大车 These are the acceleration and deceleration values ​​before the adjustment of the trolley mechanism; When the gantry crane's trolley mechanism is running at a constant speed, and the vibration amplitude value monitored in real time by any one of the vibration acquisition sensors (7th to 14th vibration acquisition sensors 19) reaches the alarm or fault level, the trolley mechanism's running speed will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: The optimized and adjusted running speed value V of the trolley mechanism 大车调整 =K A V 大车 The speed value corresponding to the vibration amplitude reaching the alarm or fault level will be added to the given speed shielding zone of the trolley mechanism. In subsequent operation of the trolley mechanism, the speed setpoint in the given shielding zone will be controlled according to the optimized and adjusted operating speed value. The trolley mechanism operates using variable frequency speed control. Different speed outputs of the frequency converter correspond to different frequency values. Different equipment structures may experience resonance at specific frequency outputs, leading to severe equipment vibration. By using detection methods to determine the speed setting and frequency at which resonance occurs, this speed setting is added to a designated shielded zone. During speed regulation, the trolley mechanism avoids resonance by exceeding the speed recorded within this shielded zone.

[0035] Where: K A The vibration suppression optimization coefficient for the trolley mechanism during uniform motion is set to 0.95. 大车 This refers to the operating speed value of the trolley mechanism before adjustment.

[0036] When the luffing mechanism of a gantry crane reaches an alarm or fault level during its acceleration and deceleration phase, if any of the vibration amplitude values ​​monitored in real time by the first vibration sensor 6 to the fifth vibration sensor 10 and the fifteenth vibration sensor 20 reach the alarm level, the acceleration and deceleration values ​​of the luffing mechanism will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted acceleration / deceleration values ​​a of the variable amplitude mechanism 变幅调整 =K b a 变幅 ; Where: K b The vibration suppression optimization coefficient for the acceleration and deceleration phases of the amplitude-changing mechanism is set to 0.8, a. 变幅 These are the acceleration and deceleration values ​​of the luffing mechanism before adjustment. When the luffing mechanism of the gantry crane reaches an alarm or fault level during its uniform speed operation phase, if the vibration amplitude value monitored in real time by any one of the vibration acquisition sensors 6 to 10 and 20 reaches the level of an alarm, the operating speed of the luffing mechanism will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted operating speed value V of the luffing mechanism 变幅调整 =K B V 变幅 The speed value corresponding to the vibration amplitude reaching the alarm or fault level is added to the speed setpoint shielding zone of the luffing mechanism. In subsequent operation of the luffing mechanism, the speed setpoint in the setpoint shielding zone is controlled according to the optimized and adjusted operating speed value. Where: K B The vibration suppression optimization coefficient for the constant velocity motion phase of the amplitude-changing mechanism is set to 0.95. 变幅 This is the operating speed value of the luffing mechanism before adjustment.

[0037] When the hoisting mechanism of the gantry crane reaches an alarm or fault level during its acceleration and deceleration phase, if the vibration amplitude value monitored in real time by any of the vibration acquisition sensors 6 to 10 and 21 reaches the level of an alarm, the PLC control unit 2 will optimize and adjust the acceleration and deceleration values ​​of the hoisting mechanism to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted hoisting mechanism acceleration and deceleration values ​​a 起升调整 =K c a 起升 ; Where K c The vibration suppression optimization coefficient for the hoisting mechanism during acceleration and deceleration is set to 0.8, a. 起升 These are the acceleration and deceleration values ​​before the hoisting mechanism is adjusted.

[0038] Step 8: When the hoisting mechanism of the gantry crane is in its uniform speed operation phase, if the vibration amplitude value monitored in real time by any of the vibration acquisition sensors 6 to 10 and 21 reaches the alarm or fault level, the hoisting mechanism's operating speed will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted hoisting mechanism operating speed value V 起升调整 =K C V 起升 The speed value corresponding to the vibration amplitude reaching the alarm or fault level will be added to the hoisting mechanism's operating speed setpoint shielding zone. Subsequently, when the hoisting mechanism is running, the speed setpoint in the setpoint shielding zone will be controlled according to the optimized and adjusted operating speed value. Where K C The vibration suppression optimization coefficient for the hoisting mechanism during uniform motion is set to 0.95. 起升 This is the operating speed value of the hoisting mechanism before adjustment.

[0039] When the slewing mechanism of the gantry crane reaches an alarm or fault level in real time as monitored by the sixth vibration acquisition sensor 11 during its acceleration and deceleration phase, the acceleration and deceleration values ​​of the slewing mechanism will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted acceleration / deceleration values ​​a of the slewing mechanism 回转调整 =K d a 回转 ; Where K d The vibration suppression optimization coefficient for the acceleration and deceleration phases of the rotary mechanism is set to 0.8, a. 回转 These are the acceleration and deceleration values ​​before the adjustment of the slewing mechanism.

[0040] When the slewing mechanism of the gantry crane reaches an alarm or fault level as monitored in real time by the sixth vibration acquisition sensor 11 during its uniform speed operation, the slewing mechanism's operating speed will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted operating speed value V of the slewing mechanism 回转调整 =K D V 回转 The speed value corresponding to the vibration amplitude reaching the alarm or fault level is added to the speed setpoint shielding zone of the slewing mechanism. In subsequent operation of the slewing mechanism, the speed setpoint in the setpoint shielding zone is controlled according to the optimized and adjusted operating speed value. Where: K D The vibration suppression optimization coefficient for the uniform motion phase of the rotary mechanism is set to 0.95, V. 回转This is the operating speed value of the slewing mechanism before adjustment.

[0041] Step 4: Repeat steps 1 to 3 until the unloading operation is completed, and then turn off the online vibration monitoring system for the gantry crane.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vibration online monitoring system for a gantry crane, characterized in that: include: Vibration monitoring unit: used to collect vibration signals from key structural parts of the gantry crane, and process them to determine whether there is abnormal vibration in the key structural parts of the gantry crane; PLC control unit: Used to receive the abnormal vibration level of key parts of the gantry crane structure transmitted by the vibration monitoring unit, and generate control signals to suppress or eliminate abnormal vibration of key parts of the gantry crane structure. Drive unit: Used to receive control signals transmitted by the PLC control unit to realize the motion control of the luffing mechanism, hoisting mechanism, slewing mechanism and trolley mechanism of the gantry crane.

2. The online vibration monitoring system for a gantry crane according to claim 1, characterized in that: The vibration monitoring unit includes: Vibration acquisition unit: used to acquire vibrations of key structural parts of the gantry crane; the key parts include the elephant trunk hinge point, slewing bearing, sea-land side gantry legs, sea-land side trolley, luffing mechanism reducer and hoisting mechanism reducer in the machine room. Data acquisition unit: used to transmit vibration signals from key structural parts acquired by the vibration acquisition unit; Vibration monitoring server: used to process the vibration signals of key structural parts transmitted by the data acquisition device, and to determine whether there is abnormal vibration in the key structural parts of the gantry crane.

3. The online vibration monitoring system for a gantry crane according to claim 2, characterized in that: The vibration acquisition unit includes: Elephant Trunk Bridge Vibration Acquisition Subunit: Used for vibration acquisition of multiple parts of the object's trunk bridge; Slewing bearing vibration acquisition subunit: used for acquiring vibration data from slewing bearings; The vibration acquisition subunit for the land-sea side gate leg is used to acquire vibration data from multiple parts of the land-sea side gate leg. The vibration acquisition subunit of the land-sea side trolley is used to acquire vibration data from multiple parts of the land-sea side trolley. Reducer vibration acquisition subunit: used to acquire vibration data from multiple reducers.

4. The online vibration monitoring system for a gantry crane according to claim 2, characterized in that: The elephant trunk bridge vibration acquisition subunit includes: The first vibration acquisition sensor is used to acquire vibrations at the pivot point at the root of the object's nose. The second vibration acquisition sensor is used to acquire the vibration of the No. 1 hinge point at the root of the object's nose. The third vibration acquisition sensor is used to acquire the vibration of the No. 2 hinge point at the root of the object's nose. The fourth vibration acquisition sensor is used to acquire vibration data at the #3 pivot point at the root of the object's nose. The fifth vibration acquisition sensor is used to acquire the vibration of the top pulley on the bridge of the nose of the object; The slewing bearing vibration acquisition subunit includes: The sixth vibration acquisition sensor: used to acquire the vibration of the slewing bearing; The vibration acquisition subunit for the land-sea side portal legs includes: The seventh vibration acquisition sensor is used to acquire vibration data of the first gate leg on the sea side. The eighth vibration acquisition sensor is used to acquire vibration data of the second leg on the sea side. Ninth vibration acquisition sensor: used to acquire vibration data of the first gate leg on the landside; The tenth vibration acquisition sensor: used to acquire vibration data of the second landside gate leg; The vibration acquisition subunit for the land-sea side trolley includes: The eleventh vibration acquisition sensor: used to acquire the vibration of the first vehicle on the sea side; The twelfth vibration acquisition sensor: used to acquire the vibration of the second vehicle on the sea side; The thirteenth vibration acquisition sensor: used to acquire the vibration of the first vehicle on the landside; The fourteenth vibration acquisition sensor: used to acquire the vibration of the second vehicle on the landside; The reducer vibration acquisition subunit includes: The fifteenth vibration acquisition sensor: used to acquire the vibration of the reducer of the amplitude transformer mechanism; The sixteenth vibration acquisition sensor is used to acquire vibration data from the reducer of the hoisting mechanism.

5. The online vibration monitoring system for a gantry crane according to claim 1, characterized in that: The process of processing the vibration signals of the key structural parts transmitted by the data acquisition device to determine whether there is abnormal vibration in the key structural parts of the gantry crane is as follows: When the trolley mechanism of the gantry crane moves, the same abnormal vibration judgment method is used for the seventh to fourteenth vibration acquisition sensors, as follows: If 1.1 K 标准a >K 实际a ≥1.05 K 标准a The vibration acquisition sensor is used to determine whether the abnormal vibration of the corresponding key structural part has reached the alarm level. If K 实际a ≥1.1 K 标准a The abnormal vibration of the corresponding key structural parts monitored by the vibration acquisition sensor is determined to have reached the level of a fault. Where K 实际a K represents the vibration amplitude value monitored in real time by any one of the seventh to fourteenth vibration acquisition sensors; 标准a The vibration amplitude value of any one of the seventh to fourteenth vibration sensors during normal operation; When the luffing mechanism of the gantry crane is activated, the same anomaly detection method is used for the data from the first vibration acquisition sensor to the fifth vibration acquisition sensor and the fifteenth vibration acquisition sensor. If 1.1 K 标准b >K 实际b ≥1.05 K 标准b The vibration acquisition sensor is used to determine whether the abnormal vibration of the corresponding key structural part has reached the alarm level. If K 实际b ≥1.1 K 标准b The abnormal vibration of the corresponding key structural parts monitored by the vibration acquisition sensor is determined to have reached the level of a fault. Where K 实际b K represents the vibration amplitude value monitored in real time by any one of the vibration acquisition sensors (first to fifth and fifteenth vibration acquisition sensors); 标准b The vibration amplitude value of any one of the vibration acquisition sensors, from the first to the fifth and the fifteenth vibration acquisition sensors, during normal operation; When the hoisting mechanism of the gantry crane operates, the data from the first to the fifth vibration acquisition sensors and the sixteenth vibration acquisition sensor are monitored in real time. If 1.1 K 标准c >K 实际c ≥1.05 K 标准c The system determines that any one of the vibration acquisition sensors (first to fifth and fifteenth) has detected abnormal vibrations in the corresponding key structural parts, which has reached the alarm level. If K 实际c ≥1.1 K 标准c The abnormal vibration of the corresponding key structural part monitored by any one of the vibration acquisition sensors (first to fifth and fifteenth) reaches the level of a fault. Where: K 实际c K represents the vibration amplitude value monitored in real time by any one of the vibration acquisition sensors (first to fifth and fifteenth vibration acquisition sensors); 标准c The vibration amplitude value of any one of the vibration acquisition sensors, from the first to the fifth and the fifteenth vibration acquisition sensors, during normal operation; When the slewing mechanism of the gantry crane operates, the sixth vibration acquisition sensor is monitored in real time. If 1.1 K 标准d >K 实际d ≥1.05 K 标准d The system determines that the abnormal vibration of the corresponding key structural part monitored by the sixth vibration acquisition sensor has reached the alarm level. If K 实际d ≥1.1 K 标准d The abnormal vibration of the corresponding key structural part monitored by the sixth vibration acquisition sensor is determined to have reached the level of a fault. Where K 实际d K represents the vibration amplitude value monitored in real time by the sixth vibration acquisition sensor. 标准d This represents the vibration amplitude value when the sixth vibration acquisition sensor is operating normally.

6. The online vibration monitoring system for a gantry crane according to claim 1, characterized in that: The process of receiving the abnormal vibration level of key parts of the gantry crane structure transmitted by the vibration monitoring unit and generating a control signal to suppress or eliminate the abnormal vibration of key parts of the gantry crane structure is as follows: When the gantry crane's trolley mechanism reaches an alarm or fault level during its acceleration and deceleration phases, if the vibration amplitude value monitored in real-time by any of the seven to fourteenth vibration sensors reaches the alarm or fault level, the acceleration and deceleration values ​​of the trolley mechanism will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted acceleration and deceleration values ​​a of the trolley mechanism 大车调整 =K a a 大车 ; Where: K a The vibration suppression optimization coefficient for the acceleration and deceleration phases of the trolley mechanism is set to 0.8, a. 大车 These are the acceleration and deceleration values ​​before the adjustment of the trolley mechanism; When the gantry crane's trolley mechanism is running at a constant speed, and the vibration amplitude value monitored in real time by any one of the vibration acquisition sensors (seventh to fourteenth vibration acquisition sensors) reaches the alarm or fault level, the trolley mechanism's running speed will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: The optimized and adjusted running speed value V of the trolley mechanism 大车调整 =K A V 大车 The speed value corresponding to the vibration amplitude reaching the alarm or fault level will be added to the given speed shielding zone of the trolley mechanism. In subsequent operation of the trolley mechanism, the speed setpoint in the given shielding zone will be controlled according to the optimized and adjusted operating speed value. Where: K A The vibration suppression optimization coefficient for the trolley mechanism during uniform motion is set to 0.

95. 大车 This refers to the operating speed value of the trolley mechanism before adjustment. When the luffing mechanism of a gantry crane reaches an alarm or fault level in real-time monitoring by any one of the first to fifth vibration sensors or the fifteenth vibration sensor during its acceleration and deceleration phases, the acceleration and deceleration values ​​of the luffing mechanism will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted acceleration / deceleration values ​​a of the variable amplitude mechanism 变幅调整 =K b a 变幅 ; in: K b The vibration suppression optimization coefficient for the acceleration and deceleration phases of the amplitude-changing mechanism is set to 0.8, a. 变幅 These are the acceleration and deceleration values ​​of the luffing mechanism before adjustment. When the luffing mechanism of a gantry crane reaches an alarm or fault level during its uniform speed operation phase, if the vibration amplitude value monitored in real time by any one of the first to fifth vibration sensors or the fifteenth vibration sensor reaches the level required for an alarm, the operating speed of the luffing mechanism will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted operating speed value V of the luffing mechanism 变幅调整 =K B V 变幅 The speed value corresponding to the vibration amplitude reaching the alarm or fault level is added to the speed setpoint shielding zone of the luffing mechanism. In subsequent operation of the luffing mechanism, the speed setpoint in the setpoint shielding zone is controlled according to the optimized and adjusted operating speed value. Where: K B The vibration suppression optimization coefficient for the constant velocity motion phase of the amplitude-changing mechanism is set to 0.

95. 变幅 This is the operating speed value of the luffing mechanism before adjustment. When the hoisting mechanism of a gantry crane reaches an alarm or fault level during its acceleration and deceleration phase, if the vibration amplitude value monitored in real time by any one of the first to fifth vibration sensors or the sixteenth vibration sensor reaches the alarm or fault level, the PLC control unit will optimize and adjust the acceleration and deceleration values ​​of the hoisting mechanism to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted hoisting mechanism acceleration and deceleration values ​​a 起升调整 =K c a 起升 ; Where K c The vibration suppression optimization coefficient for the hoisting mechanism during acceleration and deceleration is set to 0.8, a. 起升 These are the acceleration and deceleration values ​​before the hoisting mechanism is adjusted. When the hoisting mechanism of a gantry crane reaches an alarm or fault level during its uniform speed operation phase, if the vibration amplitude value monitored in real time by any one of the first to fifth vibration sensors or the sixteenth vibration sensor reaches the level required for an alarm, the hoisting mechanism's operating speed will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted hoisting mechanism operating speed value V 起升调整 =K C V 起升 The speed value corresponding to the vibration amplitude reaching the alarm or fault level will be added to the hoisting mechanism's operating speed setpoint shielding zone. Subsequently, when the hoisting mechanism is running, the speed setpoint in the setpoint shielding zone will be controlled according to the optimized and adjusted operating speed value. Where K C The vibration suppression optimization coefficient for the hoisting mechanism during uniform motion is set to 0.

95. 起升 This is the operating speed value of the hoisting mechanism before adjustment. When the slewing mechanism of a gantry crane reaches an alarm or fault level as monitored in real time by the sixth vibration acquisition sensor during its acceleration and deceleration phase, the acceleration and deceleration values ​​of the slewing mechanism will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted acceleration / deceleration values ​​a of the slewing mechanism 回转调整 =K d a 回转 ; Where K d The vibration suppression optimization coefficient for the acceleration and deceleration phases of the rotary mechanism is set to 0.8, a. 回转 These are the acceleration and deceleration values ​​before the adjustment of the slewing mechanism. When the slewing mechanism of the gantry crane reaches an alarm or fault level as monitored in real time by the sixth vibration acquisition sensor during its uniform speed operation, the slewing mechanism's operating speed will be optimized and adjusted to suppress vibration. The specific optimization and adjustment method is as follows: Optimized and adjusted operating speed value V of the slewing mechanism 回转调整 =K D V 回转 The speed value corresponding to the vibration amplitude reaching the alarm or fault level is added to the speed setpoint shielding zone of the slewing mechanism. In subsequent operation of the slewing mechanism, the speed setpoint in the setpoint shielding zone is controlled according to the optimized and adjusted operating speed value. in: K D The vibration suppression optimization coefficient for the uniform motion phase of the rotary mechanism is set to 0.95, V. 回转 This is the operating speed value of the slewing mechanism before adjustment.

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