Crane control system based on multi-drive function redundancy

Abstract

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

Description

TECHNICAL FIELD

[0001] The utility model relates to hoisting equipment control technical field especially relates to a kind of crane control system based on multi-drive function redundancy. BACKGROUND

[0002] At present, more and more port large hoisting equipment is towards the direction of multi-working condition operation, one machine multiple functions. These hoisting equipment bears heavy lifting task day after day, and in high-load, uninterrupted operation, it unloads or loads tons of goods from or to the ship, ensuring the smooth operation of transportation trade. These hoisting equipment is usually equipped with advanced electrical drive system, including motor, frequency converter, controller, etc., to realize accurate and efficient operation. At the same time, they also rely on complex sensor system and mechanical mechanism to ensure the safety and stability of operation. Due to the long-term high-load operation of hoisting equipment, combined with the influence of its operating environment, service life and maintenance level, the equipment may encounter sudden damage or intractable failure of electrical drive during loading and unloading operation, which cannot be handled in time. At this time, the equipment is loading goods, and the related mechanism drive of the equipment cannot operate due to failure, and the replacement and maintenance period of the drive device is long, so that the equipment maintenance personnel are at a loss, the wharf production scheduling is passive, and even the ship period may be delayed, which greatly affects transportation trade. SUMMARY

[0003] Therefore, the utility model provides a kind of crane control system based on multi-drive function redundancy.

[0004] The technical scheme of the utility model is realized as follows:

[0005] The utility model provides a kind of crane control system based on multi-drive function redundancy, including: PLC controller, multi-drive function redundancy channel selection device and multi-drive redundancy device;

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

[0007] The multi-drive redundancy device includes hoisting mechanism, trolley mechanism, trolley mechanism, spreader micro-drive mechanism and the contactor, contactor relay and thermomagnetic circuit breaker corresponding to each other

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

[0009] On the basis of the above technical scheme, preferably, the hoisting drive corresponding to different hoisting mechanisms are redundant to each other.

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

[0011] On the basis of the above technical scheme, preferably, the lifting mechanism comprises a first lifting mechanism and a second lifting mechanism.

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

[0013] On the basis of the above technical scheme, preferably, the different trolley drivers corresponding to the trolley mechanisms are redundant.

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

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

[0016] On the basis of the above technical scheme, preferably, the lifting mechanism comprises a first lifting mechanism; and the trolley mechanism comprises a first trolley mechanism.

[0017] The driver of the first lifting mechanism drives the motor of the first trolley mechanism through contactor switching redundancy, and the driver of the first trolley mechanism drives the motor of the first lifting mechanism through contactor switching redundancy.

[0018] On the basis of the above technical scheme, preferably, the different trolley drivers corresponding to the trolley mechanisms are redundant.

[0019] On the basis of the above technical scheme, preferably, the trolley mechanism comprises a first trolley mechanism and a second trolley mechanism.

[0020] The driver of the first trolley mechanism drives the motor of the second trolley mechanism through contactor switching redundancy, or the driver of the second trolley mechanism drives the motor of the first trolley mechanism through contactor switching redundancy.

[0021] On the basis of the above technical scheme, preferably, the micro-motion drivers corresponding to the different lifting appliance micro-motion mechanisms are redundant to each other; the main contact input end of the contactor of the lifting appliance micro-motion mechanism is electrically connected with the output end of the driver of the lifting appliance micro-motion mechanism in three phases, and the main contact output end is electrically connected with the three-phase control terminal of the lifting appliance micro-motion mechanism.

[0022] On the basis of the above technical scheme, preferably, the lifting appliance micro-motion mechanism comprises a first lifting appliance micro-motion mechanism and a second lifting appliance micro-motion mechanism.

[0023] The driver of the first lifting appliance micro-motion mechanism redundantly drives the motor of the second lifting appliance micro-motion mechanism through the contactor switching; and the driver of the second lifting appliance micro-motion mechanism redundantly drives the motor of the first lifting appliance micro-motion mechanism through the contactor switching.

[0024] The crane control system based on multi-drive function redundancy of the utility model has the following beneficial effects relative to the prior art:

[0025] 1. By increasing the multi-drive function redundancy channel selection device and the function redundancy contactor between the multiple drives, when some drive devices suddenly fail during the loading and unloading operation of the port hoisting equipment, the multi-drive function redundancy channel selection device can immediately share the drive redundancy function, the equipment operation is restored in time, the drive redundancy capability between the equipment mechanisms is greatly improved, the reliability of the equipment is ensured, and the stability and efficiency of the wharf production operation are improved.

[0026] 2. When the driver corresponding to one of the hoisting mechanism, the trolley mechanism, the trolley mechanism and the lifting appliance micro-motion mechanism stops working, the drivers of the same type mechanism redundancy are switched through the contactor, and the drivers of the different type mechanism redundancy can also be switched through the contactor, so that the motor of the mechanism is driven to work, without the need of additionally increasing the equipment drive device, but using the existing drive device, improving the utilization rate of the drive device, reducing the budget cost, and the principle is simple and easy to maintain. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0028] Figure 1 A structure schematic view of the crane control system based on multi-drive function redundancy provided by the utility model embodiment is shown in the drawings.

[0029] Figure 2 This is a schematic diagram of the electrical connection between the hoisting drive and the trolley drive in a shared redundancy mode, as provided in this embodiment.

[0030] Figure 3 This is a schematic diagram of the redundant contactor connection between the hoisting drive and the trolley drive provided in this embodiment;

[0031] Figure 4 This is a schematic diagram of the redundant contactor relay electrical connection between the hoisting drive and the trolley drive provided in this embodiment;

[0032] Figure 5 This is a schematic diagram of the electrical connection between the normal drive and single-drive redundant mode 1 of the large vehicle provided in this embodiment;

[0033] Figure 6 This is a schematic diagram of the electrical connection between the normal drive and single-drive redundant mode 2 of the large vehicle provided in this embodiment;

[0034] Figure 7 This is a schematic diagram of the electrical connection between the normal drive and the single-drive redundant contactor of the large vehicle provided in this embodiment;

[0035] Figure 8 This is a schematic diagram of the relay electrical connection between the normal drive and single-drive redundant contactor of the large vehicle provided in this embodiment;

[0036] Figure 9 This is a schematic diagram of the redundant mode electrical connection of the vehicle driver provided in this embodiment;

[0037] Figure 10 This is a schematic diagram of the electrical connection of the micro-motion actuator for the lifting device in the shared redundancy mode provided in this embodiment;

[0038] Figure 11 This is a schematic diagram of the electrical connection of the micro-motion redundant contactor for the lifting device provided in this embodiment;

[0039] Figure 12 This is a flowchart illustrating a crane control method based on multi-drive functional redundancy provided in this embodiment. Detailed Implementation

[0040] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0041] In some embodiments, such as Figure 1 As shown, Figure 1The utility model provides a kind of structure schematic diagram of crane control system based on multiple drive function redundancy provided for the embodiment of the utility model;The utility model provides a kind of crane control system based on multiple drive function redundancy, comprising: PLC controller 110, multiple drive function redundancy channel selection device 120 and multiple drive redundancy device 130;

[0042] Multiple drive function redundancy channel selection device 120 includes hoisting drive redundancy 121, trolley drive redundancy 122, hoisting and trolley shared redundancy 123, trolley drive redundancy 124 and sling micro drive redundancy 125.

[0043] Multiple drive redundancy device 130 includes hoisting mechanism 131, trolley mechanism 132, trolley mechanism 133, sling micro drive mechanism 134 and respective contactor, contactor relay and thermal magnetic circuit breaker.

[0044] PLC controller 110 is electrically connected with multiple drive function redundancy channel selection device 120 and multiple drive redundancy device 130.

[0045] In the present example, PLC controller 110 is a programmable logic controller, which stores instructions for performing logical operations, sequential control, timing, counting and arithmetic operations, etc. inside, and controls the operation process of various types of mechanical or electrical equipment through digital and analog input and output. Here, PLC controller 110 can send instructions to multiple drive function redundancy channel selection device 120 to select appropriate drivers for operation, and receive feedback signals from the device. Hoisting drive redundancy 121 is used to ensure the reliability of hoisting mechanism. If the main hoisting drive fails, the redundant drive can take over immediately to avoid operation interruption. Trolley drive redundancy 122 is used for redundant control of trolley mechanism to ensure that trolley mechanism can move stably and reliably when needed. Hoisting and trolley shared redundancy 123 is configured to share redundant resources between hoisting mechanism and trolley mechanism in some cases to further reduce cost and improve efficiency. Trolley drive redundancy 124 is used for redundant control of trolley to ensure stable movement of trolley on the track. Sling micro drive redundancy 125 is used to accurately control the slight movement of sling, improve the accuracy and safety of operation.

[0046] In some embodiments, the hoisting drives corresponding to different hoisting mechanisms are redundant to each other;

[0047] The main contact input end of the contactor of the hoisting mechanism is electrically connected with the output end of the hoisting drive in three phases, and the main contact output end is electrically connected with the three-phase control terminal of the motor of the hoisting mechanism.

[0048] In the embodiment, multiple sets of lifting mechanisms and lifting drivers can be included. If one of the multiple lifting drivers fails, the remaining lifting drivers can immediately take over to drive the corresponding motor to drive the corresponding lifting mechanism, thereby avoiding operation interruption.

[0049] In an optional embodiment, the lifting mechanism includes a first lifting mechanism and a second lifting mechanism; the driver of the first lifting mechanism redundantly drives the motor of the second lifting mechanism through the contactor, or the driver of the second lifting mechanism redundantly drives the motor of the first lifting mechanism through the contactor.

[0050] In the embodiment, the lifting driver includes a first lifting driver and a second lifting driver. The main contact input end of the contactor of the first lifting mechanism is electrically connected to the output end of the first lifting driver in three phases, and the main contact output end of the contactor of the first lifting mechanism is electrically connected to the three-phase control terminal of the motor of the first lifting mechanism. The contactor of the first lifting mechanism is controlled by the PLC controller to drive the corresponding output relay to attract its coil; similarly, the main contact input end of the contactor of the second lifting mechanism is electrically connected to the output end of the second lifting driver in three phases, and the main contact output end of the contactor of the second lifting mechanism is electrically connected to the three-phase control terminal of the motor of the second lifting mechanism. The contactor of the second lifting mechanism is controlled by the PLC controller to drive the corresponding output relay to attract its coil.

[0051] In an example, please refer to Figure 2 , Figure 2The schematic diagram of the electrical connection of the hoisting drive and the cart drive sharing the redundancy mode is provided for the embodiment. The contactor of the first hoisting mechanism, i.e., the hoisting 1 contactor, is marked as 155MC1. The contactor of the second hoisting mechanism, i.e., the hoisting 2 contactor, is marked as 155MC3. The hoisting 1 contactor is used to control the on-off of the power supply between the hoisting 1 drive (i.e., the first hoisting drive) and the hoisting 1 motor (the motor corresponding to the first hoisting mechanism). The hoisting 2 contactor is used to control the on-off of the power supply between the hoisting 2 drive (i.e., the second hoisting drive) and the hoisting 2 motor (the motor corresponding to the second hoisting mechanism). When the hoisting normal linkage is selected by the multi-drive function redundancy selection device, the DO output signal of the device is fed back to the DI input signal of the PLC controller. The PLC controller controls the hoisting 1 contactor to be attracted and the hoisting 2 contactor to be attracted, thereby making the hoisting 1 drive and the hoisting 1 motor connected to the power supply and the hoisting 2 drive and the hoisting 2 motor connected to the power supply, and controlling the operation. When the hoisting 1 redundancy single action is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller. The PLC controller controls the hoisting 1 contactor to be attracted, thereby making the hoisting 1 drive and the hoisting 1 motor connected to the power supply. The PLC controller controls the hoisting 1 drive to redundantly drive the hoisting 1 motor to control the operation. When the hoisting 2 redundancy single action is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller. The PLC controller controls the hoisting 2 contactor to be attracted, thereby making the hoisting 2 drive and the hoisting 2 motor connected to the power supply. The PLC controller controls the hoisting 2 drive to redundantly drive the hoisting 2 motor to control the operation.

[0052] In some embodiments, the cart drives corresponding to different cart mechanisms are redundant to each other.

[0053] The main contact input end of the contactor of the cart mechanism is electrically connected with the output end of the cart drive in three phases. The main contact output end is electrically connected with the main contact input end of the normal contactor of the cart drive in three phases. The main contact output end of the normal contactor is electrically connected with the input end of the cart motor thermal magnetic circuit breaker in three phases. The output end of the cart motor thermal magnetic circuit breaker is electrically connected with the three-phase control terminal of the respective motor in three phases.

[0054] In the embodiment, please refer to Figure 3 and Figure 4 , Figure 3 The schematic diagram of the electrical connection of the hoisting drive and the cart drive sharing the redundancy contactor is provided for the embodiment, Figure 4The schematic diagram of the electrical connection of the hoisting drive and the redundant contactor of the cart drive provided for the embodiment is shown in the figure. The cart mechanism includes cart 1 and cart 2. The contactor of cart 1 is marked as 155MC6; the normal contactor corresponding to the drive of cart 1 is marked as 165MC1; the drive redundant contactor of cart 2 of cart 1 is marked as 165MC3; the contactor of cart 2 is marked as 155MC8; the normal contactor corresponding to the drive of cart 2 is marked as 165MC4; the drive redundant contactor of cart 1 of cart 2 is marked as 165MC2. The main contact input end of the contactor of cart 1 is in three-phase electrical connection with the output end of the drive of cart 1; the main contact output end of the contactor of cart 1 is in three-phase electrical connection with the main contact input end of the normal contactor corresponding to the drive of cart 1; the main contact output end of the normal contactor corresponding to the drive of cart 1 is in three-phase electrical connection with the input end of the thermal magnetic circuit breaker of the cart motor on one side of cart 1; the output end of the thermal magnetic circuit breaker of the cart motor on one side of cart 1 is in three-phase electrical connection with the three-phase control terminal of the motor. The main contact input end of the contactor of cart 2 is in three-phase electrical connection with the output end of the drive of cart 2; the main contact output end of the contactor of cart 2 is in three-phase electrical connection with the main contact input end of the normal contactor corresponding to the drive of cart 2; the main contact output end of the normal contactor corresponding to the drive of cart 2 is in three-phase electrical connection with the input end of the thermal magnetic circuit breaker of the cart motor on one side of cart 2; the output end of the thermal magnetic circuit breaker of the cart motor on one side of cart 2 is in three-phase electrical connection with the three-phase control terminal of the motor. The contactor of cart 1 is used to control the on-off of the power supply between the drive of cart 1 and the normal contactor corresponding to the drive of cart 1; the normal contactor corresponding to the drive of cart 1 is used to control the on-off of the power supply between the contactor of cart 1 and the thermal magnetic circuit breaker of the cart motor on one side of cart 1; the thermal magnetic circuit breakers on one side of cart 1 are connected to the corresponding cart motors; the contactor of cart 2 is used to control the on-off of the power supply between the drive of cart 2 and the normal contactor corresponding to the drive of cart 2; the normal contactor corresponding to the drive of cart 2 is used to control the on-off of the power supply between the contactor of cart 2 and the thermal magnetic circuit breaker of the cart motor on one side of cart 2; the thermal magnetic circuit breakers on one side of cart 2 are connected to the corresponding cart motors; the protection of the thermal magnetic circuit breaker is to protect the tripping when the running current of the connected motor exceeds the set value, effectively avoiding the damage of the motor caused by the excessive current due to overload, under-voltage, frequent starting, etc.When the normal linkage of the crane is selected by the multi-drive function redundancy selection device, the device DO output signal is fed back to the PLC controller DI input signal, the PLC controller controls the contactor of the crane 1 to be attracted, the contactor of the crane 2 to be attracted, the corresponding normal contactor of the driver of the crane 1 to be attracted, the corresponding normal contactor of the driver of the crane 2 to be attracted, and then the driver of the crane 1 is connected to all the motors on one side of the crane 1, and the driver of the crane 2 is connected to all the motors on one side of the crane 2, and the PLC normally controls the linkage operation of the driver of the crane 1 and the driver of the crane 2.

[0055] Here, refer to Figure 5 and Figure 6 , Figure 5 The electrical connection schematic diagram of the normal drive of the crane and the single drive redundancy mode 1 provided by the embodiment is shown in the figure. Figure 6The electrical connection diagram of normal drive and single drive redundancy mode 2 of the cart provided for the embodiment is shown. The main contact input end of the driver of the cart 1 redundantly connects the main contact output end of the contactor of the cart 2, and the main contact output end of the driver of the cart 1 redundantly connects the main contact output end of the normal contactor corresponding to the driver of the cart 2. The main contact input end of the driver of the cart 2 redundantly connects the main contact output end of the contactor of the cart 1, and the main contact output end of the driver of the cart 2 redundantly connects the main contact output end of the normal contactor corresponding to the driver of the cart 1. The contactor of the driver of the cart 1 redundantly controls the contactor of the cart 1 and the on-off of the thermal magnetic circuit breaker of the cart 2, and the thermal magnetic circuit breaker of the cart 2 respectively connects the corresponding cart motor. The contactor of the driver of the cart 2 redundantly controls the contactor of the cart 2 and the on-off of the thermal magnetic circuit breaker of the cart 1, and the thermal magnetic circuit breaker of the cart 1 respectively connects the corresponding cart motor. The protection of the thermal magnetic circuit breaker is to protect the tripping when the running current of the connected motor exceeds the set value, effectively avoiding the damage of the motor caused by the excessive current due to overload, under-voltage, frequent starting and the like. When the cart 1 is selected to redundantly drive, the DO output signal of the device is fed back to the DI input signal of the PLC controller, the PLC controller controls the contactor of the cart 1 to be attracted, the contactor of the driver of the cart 1 to be attracted, and then the driver of the cart 1 is connected to the power supply of the motor on one side of the cart 1, and the driver of the cart 1 is connected to the power supply of the motor on one side of the cart 2. The PLC controls the driver of the cart 1 to redundantly drive the cart motor to operate. When the cart 2 is selected to redundantly drive, the DO output signal of the device is fed back to the DI input signal of the PLC controller, the PLC controller controls the contactor of the cart 2 to be attracted, the contactor of the driver of the cart 2 to be attracted, and then the driver of the cart 2 is connected to the power supply of the motor on one side of the cart 2, and the driver of the cart 2 is connected to the power supply of the motor on one side of the cart 1. The PLC controls the driver of the cart 2 to redundantly drive the cart motor to operate. It should be noted that the normal contactor corresponding to the driver of the cart 1, the contactor of the driver of the cart 1 redundantly connecting the cart 2, the normal contactor corresponding to the driver of the cart 2, and the contactor of the driver of the cart 2 redundantly connecting the cart 1 cannot be attracted at the same time, and there is electrical control interlocking between them.

[0056] In some embodiments, the driver corresponding to the hoisting mechanism and the driver corresponding to the cart mechanism are redundantly connected to each other.

[0057] In the embodiment, when the drive corresponding to the hoisting mechanism fails, the drive corresponding to the trolley mechanism can drive the motor connected with the hoisting mechanism to drive the hoisting mechanism to continue working; similarly, when the drive corresponding to the trolley mechanism fails, the drive corresponding to the hoisting mechanism can drive the motor connected with the trolley mechanism to drive the trolley mechanism to continue working.

[0058] In some embodiments, the hoisting mechanism comprises a first hoisting mechanism; the trolley mechanism comprises a first trolley mechanism;

[0059] The drive of the first hoisting mechanism switches the motor of the first trolley mechanism through the contactor; the drive of the first trolley mechanism switches the motor of the first hoisting mechanism through the contactor.

[0060] In the embodiment, please refer to Figure 7 and Figure 8 , Figure 7 The electrical connection diagram of the normal drive and single-drive redundancy contactor of the trolley provided in the embodiment is shown in Figure 8 The electrical connection diagram of the normal drive and single-drive redundancy contactor of the trolley provided in the embodiment is shown in. The first hoisting mechanism is referred to as hoisting 1, and the second hoisting mechanism is referred to as hoisting 2. The trolley mechanism comprises a trolley 1 and a trolley 2. The drive of the hoisting 1 switches the motor of the trolley 1 through the contactor, which is marked as 155MC5; the drive of the trolley 1 switches the motor of the hoisting 1 through the contactor, which is marked as 155MC2; the drive of the hoisting 2 switches the motor of the trolley 2 through the contactor, which is marked as 155MC7; the drive of the trolley 2 switches the motor of the hoisting 2 through the contactor, which is marked as 155MC4. The main contact input end of the redundancy contactor for connecting the drive of the hoisting 1 and the motor of the trolley 1 is in three-phase electrical connection with the output end of the drive of the hoisting 1, and the main contact output end of the redundancy contactor is in three-phase electrical connection with the corresponding normal contactor of the drive of the trolley 1 or the main contact input end of the redundancy contactor of the drive of the trolley 1. Similarly, the redundancy contactor for connecting the drive of the trolley 1 and the motor of the hoisting 1, the redundancy contactor for connecting the drive of the hoisting 2 and the motor of the trolley 2, and the redundancy contactor for connecting the drive of the trolley 2 and the motor of the hoisting 2 have similar connection modes of the main contacts.

[0061] In this embodiment, the hoist 1 drive cart 1 redundant contactor, i.e. the drive of the hoist 1, switches the redundant power supply to the motor drive of the cart 1, specifically controls the on-off of the normal contactor corresponding to the drive of the hoist 1 and the contactor of the drive of the cart 1 that supplies power to the redundant cart 2. The control principle of the drive of the hoist 2, the drive of the cart 1 and the drive of the cart 2 is the same. When the hoist 1 redundant cart 1 is selected by the multi-drive function redundant channel selection device, the DO output signal of the device is fed back to the DI input signal of the PLC controller, the PLC controller controls the hoist 1 drive cart 1 redundant contactor to be attracted, the cart 1 drive normal contactor or the cart 1 drive redundant cart 2 contactor to be attracted, and then makes the hoist 1 drive and the part of the motor on one side of the cart connected to the power supply, and the PLC controls the hoist 1 drive redundant drive part of the cart motor to operate; when the cart 1 redundant hoist 1 is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, the PLC controller controls the cart 1 drive hoist 1 redundant contactor to be attracted, and then makes the cart 1 drive and the hoist 1 motor connected to the power supply, and the PLC controls the cart 1 drive redundant drive hoist 1 motor to operate; when the hoist 2 redundant cart 2 is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, the PLC controller controls the hoist 2 drive cart 2 redundant contactor to be attracted, the cart 2 drive normal contactor or the cart 2 drive redundant cart 1 contactor to be attracted, and then makes the hoist 2 drive and the part of the motor on one side of the cart connected to the power supply, and the hoist 2 drive redundant drive part of the cart motor to operate; when the cart 2 redundant hoist 2 is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, the PLC controller controls the cart 2 drive hoist 2 redundant contactor to be attracted, and then makes the cart 2 drive and the hoist 2 motor connected to the power supply, and the PLC controls the cart 2 drive redundant drive hoist 2 motor to operate. It should be noted that the hoist 1 contactor, the hoist 2 contactor, the cart 1 contactor, the cart 2 contactor, the hoist 1 drive cart 1 redundant contactor, the cart 1 drive hoist 1 redundant contactor, the hoist 2 drive cart 2 redundant contactor and the cart 2 drive hoist 2 redundant contactor cannot be attracted at the same time, and there is electrical control interlocking between them.

[0062] In some embodiments, the drive of the different cart mechanisms are redundant to each other.

[0063] In some embodiments, the cart mechanism includes a first cart mechanism and a second cart mechanism; the drive of the first cart mechanism drives the motor of the second cart mechanism through contactor switching redundancy, or the drive of the second cart mechanism drives the motor of the first cart mechanism through contactor switching redundancy.

[0064] In the embodiment, the first trolley mechanism and the second trolley mechanism are referred to as trolley 1 and trolley 2 respectively. When the drive corresponding to trolley 1 fails, the drive corresponding to trolley 2 can drive the motor connected to trolley 1 to drive trolley 1 to continue working; similarly, when the drive corresponding to trolley 2 fails, the drive corresponding to trolley 1 can drive the motor connected to trolley 2 to drive trolley 2 to continue working.

[0065] In one example, please refer to Figure 9 , Figure 9 The electrical connection diagram of the trolley drive redundancy mode provided in the embodiment is shown in FIG. 1. The trolley motor 1-4 thermal magnetic circuit breakers are marked as 144CB1, 144CB3, 144CB5 and 144CB7. The input end of the trolley motor 1, 2 thermal magnetic circuit breakers is electrically connected to the output end of the trolley 1 drive, and the output end of the trolley motor 1, 2 thermal magnetic circuit breakers is electrically connected to the corresponding trolley motor three-phase control terminal. The input end of the trolley motor 3, 4 thermal magnetic circuit breakers is electrically connected to the output end of the trolley 2 drive, and the output end of the trolley motor 3, 4 thermal magnetic circuit breakers is electrically connected to the corresponding trolley motor three-phase control terminal.

[0066] In the embodiment, the trolley motor 1, 2 thermal magnetic circuit breakers are used to control the on-off of the power supply of the trolley 1 drive and the corresponding trolley motor. The trolley motor 3, 4 thermal magnetic circuit breakers are used to control the on-off of the power supply of the trolley 1 drive and the corresponding trolley motor. The protection function of the thermal magnetic circuit breaker is to protect the tripping when the running current of the connected motor exceeds the set value, effectively avoiding the damage of the motor caused by excessive current due to overload, undervoltage, frequent starting and the like during motor operation. When the trolley normal linkage is selected by the multi-drive function redundancy selection device, the DO output signal of the device is fed back to the DI input signal of the PLC controller, the trolley motor 1, 2 thermal magnetic circuit breakers are connected to the power supply, the trolley motor 3, 4 thermal magnetic circuit breakers are connected to the power supply, and the PLC simultaneously controls the trolley 1 drive and the trolley 2 drive to drive the respective trolley motors to operate. When the trolley 1 redundancy single action is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, the trolley motor 1, 2 thermal magnetic circuit breakers are connected to the power supply, and the PLC controls the trolley 1 drive to drive the trolley motor 1, 2 to operate. When the trolley 2 redundancy single action is selected, the DO output signal of the device is fed back to the DI input signal of the PLC controller, the trolley motor 3, 4 thermal magnetic circuit breakers are connected to the power supply, and the PLC controls the trolley 2 drive to drive the trolley motor 3, 4 to operate.

[0067] In some embodiments, the micro-drive drives corresponding to different lifting appliance micro-drive mechanisms are redundant. The main contact input end of the contactor of the lifting appliance micro-drive mechanism is electrically connected to the output end of the drive of the lifting appliance micro-drive mechanism, and the main contact output end is electrically connected to the three-phase control terminal of the lifting appliance micro-drive mechanism.

[0068] In some embodiments, the spreader micro-motion mechanism includes a first spreader micro-motion mechanism and a second spreader micro-motion mechanism; the driver of the first spreader micro-motion mechanism drives the motor of the second spreader micro-motion mechanism through the contactor switching redundancy; the driver of the second spreader micro-motion mechanism drives the motor of the first spreader micro-motion mechanism through the contactor switching redundancy.

[0069] In one example, in one example, please refer to Figure 10 and Figure 11 , Figure 10 The spreader micro-motion driver provided in the embodiment provides a shared redundancy mode electrical connection diagram, Figure 11 The spreader micro-motion redundancy contactor electrical connection diagram provided in the embodiment; the first spreader micro-motion mechanism is referred to as spreader micro-motion 1, the second spreader micro-motion mechanism is referred to as spreader micro-motion 2, and other similar names are the same. The spreader micro-motion 1 contactor is marked as 356MC1; the spreader micro-motion 2 contactor is marked as 356MC3; the spreader micro-motion 3 contactor is marked as 356MC5; the spreader micro-motion 4 contactor is marked as 356MC7. The main contact input end of the spreader micro-motion 1 contactor is electrically connected with the output end of the spreader micro-motion 1 driver in three phases, and the main contact output end of the spreader micro-motion 1 contactor is electrically connected with the three-phase control terminal of the spreader motor 1; the main contact input end of the spreader micro-motion 2 contactor is electrically connected with the output end of the spreader micro-motion 2 driver in three phases, and the main contact output end of the spreader micro-motion 2 contactor is electrically connected with the three-phase control terminal of the spreader motor 2; the main contact input end of the spreader micro-motion 3 contactor is electrically connected with the output end of the spreader micro-motion 3 driver in three phases, and the main contact output end of the spreader micro-motion 3 contactor is electrically connected with the three-phase control terminal of the spreader motor 3; the main contact input end of the spreader micro-motion 4 contactor is electrically connected with the output end of the spreader micro-motion 4 driver in three phases, and the main contact output end of the spreader micro-motion 1 contactor is electrically connected with the three-phase control terminal of the spreader motor 1.

[0070] In this embodiment, the micro-motion 1 contactor is used to control the on / off power supply between the micro-motion 1 driver and the micro-motion motor 1; the micro-motion 2 contactor is used to control the on / off power supply between the micro-motion 2 driver and the micro-motion motor 2; the micro-motion 3 contactor is used to control the on / off power supply between the micro-motion 3 driver and the micro-motion motor 3; and the micro-motion 4 contactor is used to control the on / off power supply between the micro-motion 4 driver and the micro-motion motor 4. When the multi-drive redundancy selection device selects the normal linkage of micro-motions 1 and 3, the DO output signal of the device is fed back to the DI input signal of the PLC controller. The PLC controller controls the micro-motion 1 contactor and the micro-motion 3 contactor to engage, thereby connecting the micro-motion 1 driver and the micro-motion 3 driver to the micro-motion motor 1 and the micro-motion motor 3 respectively. The PLC controls the normal linkage operation of the micro-motion motor 1 and the micro-motion motor 3. When the micro-motion 1 is selected for normal single-action, the DO output signal of the device is fed back to the PLC. The PLC controller receives a DI input signal from the spreader micro-motion 1, which in turn activates the spreader micro-motion 1 driver and the spreader micro-motor 1, connecting them to the power supply. The PLC then controls the spreader micro-motion 1 driver to drive the spreader micro-motor 1 for operation. When the spreader micro-motion 3 is in normal single-action mode, the device's DO output signal is fed back to the PLC controller's DI input signal. The PLC controller then activates the spreader micro-motion 3 contactor, which in turn activates the spreader micro-motion 3 driver and the spreader micro-motor 3, connecting them to the power supply. The PLC then controls the spreader micro-motion 3 driver to drive the spreader micro-motor 3. 3. Operation Control: When the micro-motion devices 2 and 4 are in normal linkage, the DO output signal of the device is fed back to the DI input signal of the PLC controller. The PLC controller controls the contactors of micro-motion devices 2 and 4 to engage, thereby connecting the micro-motion device 2 driver and the micro-motion device 4 driver to the micro-motion device 4 respectively. The PLC control enables the normal linkage operation of micro-motion devices 2 and 4. When the micro-motion device 2 is in normal single-action mode, the DO output signal of the device is fed back to the DI input signal of the PLC controller. When the input signal is received, the PLC controller controls the contactor of the micro-motion 2 of the lifting device to engage, which in turn connects the micro-motion 2 driver and the micro-motion motor 2 of the lifting device to power. The PLC then controls the micro-motion 2 driver to drive the micro-motion motor 2 for operation. When the micro-motion 4 of the lifting device is selected for normal single-action, the DO output signal of the device is fed back to the DI input signal of the PLC controller. The PLC controller then controls the contactor of the micro-motion 4 of the lifting device to engage, which in turn connects the micro-motion 4 driver and the micro-motion motor 4 of the lifting device to power. The PLC then controls the micro-motion 4 driver to drive the micro-motion motor 4 for operation.

[0071] In another example, the crane control system further comprises a spreader micro 1 driver redundant micro 2 contactor, a spreader micro 2 driver redundant micro 1 contactor, a spreader micro 3 driver redundant micro 4 contactor, a spreader micro 4 driver redundant micro 3 contactor, and a PLC controller output point corresponding to the above contactors.

[0072] The spreader micro 1 driver redundant micro 2 contactor is marked as 356MC4, the spreader micro 2 driver redundant micro 1 contactor is marked as 356MC2, the spreader micro 3 driver redundant micro 4 contactor is marked as 356MC8, and the spreader micro 4 driver redundant micro 3 contactor is marked as 356MC6. The main contact input end of the spreader micro 1 driver redundant micro 2 contactor is electrically connected with the output end of the spreader micro 1 driver, and the main contact output end of the spreader micro 1 driver redundant micro 2 contactor is electrically connected with the three-phase control terminal of the spreader motor 2. The main contact input end of the spreader micro 2 driver redundant micro 1 contactor is electrically connected with the output end of the spreader micro 2 driver, and the main contact output end of the spreader micro 2 driver redundant micro 1 contactor is electrically connected with the three-phase control terminal of the spreader motor 1. The main contact input end of the spreader micro 3 driver redundant micro 4 contactor is electrically connected with the output end of the spreader micro 3 driver, and the main contact output end of the spreader micro 3 driver redundant micro 4 contactor is electrically connected with the three-phase control terminal of the spreader motor 4. The main contact input end of the spreader micro 4 driver redundant micro 3 contactor is electrically connected with the output end of the spreader micro 4 driver, and the main contact output end of the spreader micro 4 driver redundant micro 3 contactor is electrically connected with the three-phase control terminal of the spreader motor 3.

[0073] In this embodiment, the hoist micro-drive 1 redundant micro-drive 2 contactor is used to control the on-off of the power supply of the hoist micro-drive 1 drive and the hoist micro-drive motor 2; the hoist micro-drive 2 drive redundant micro-drive 1 contactor is used to control the on-off of the power supply of the hoist micro-drive 2 drive and the hoist micro-drive motor 1; the hoist micro-drive 3 drive redundant micro-drive 4 contactor is used to control the on-off of the power supply of the hoist micro-drive 3 drive and the hoist micro-drive motor 4; the hoist micro-drive 4 drive redundant micro-drive 3 contactor is used to control the on-off of the power supply of the hoist micro-drive 4 drive and the hoist micro-drive motor 3. When the hoist micro-drive 1 redundant micro-drive 2 is selected by the multi-drive function redundancy selection device, the device DO output signal is fed back to the PLC controller DI input signal, the PLC controller controls the hoist micro-drive 1 drive redundant micro-drive 2 contactor to be attracted, and then the hoist micro-drive 1 drive is connected to the power supply of the hoist micro-drive motor 2, the PLC controls the hoist micro-drive 1 drive redundant drive hoist micro-drive motor 2 to operate; when the hoist micro-drive 2 redundant micro-drive 1 is selected, the device DO output signal is fed back to the PLC controller DI input signal, the PLC controller controls the hoist micro-drive 2 drive redundant micro-drive 1 contactor to be attracted, and then the hoist micro-drive 2 drive is connected to the power supply of the hoist micro-drive motor 1, the PLC controls the hoist micro-drive 2 drive redundant drive hoist micro-drive motor 1 to operate; when the hoist micro-drive 3 redundant micro-drive 4 is selected, the device DO output signal is fed back to the PLC controller DI input signal, the PLC controller controls the hoist micro-drive 3 drive redundant micro-drive 4 contactor to be attracted, and then the hoist micro-drive 3 drive is connected to the power supply of the hoist micro-drive motor 4, the PLC controls the hoist micro-drive 3 drive redundant drive hoist micro-drive motor 4 to operate; when the hoist micro-drive 4 redundant micro-drive 3 is selected, the device DO output signal is fed back to the PLC controller DI input signal, the PLC controller controls the hoist micro-drive 4 drive redundant micro-drive 3 contactor to be attracted, and then the hoist micro-drive 4 drive is connected to the power supply of the hoist micro-drive motor 3, the PLC controls the hoist micro-drive 4 drive redundant drive hoist micro-drive motor 3 to operate. Note that the hoist micro-drive 1 contactor, the hoist micro-drive 2 contactor, the hoist micro-drive 3 contactor, the hoist micro-drive 4 contactor, the hoist micro-drive 1 drive redundant micro-drive 2 contactor, the hoist micro-drive 2 drive redundant micro-drive 1 contactor, the hoist micro-drive 3 drive redundant micro-drive 4 contactor, and the hoist micro-drive 4 drive redundant micro-drive 3 contactor cannot be attracted at the same time, and there is electrical control interlocking between them.

[0074] In some embodiments, please refer to Figure 12 , Figure 12 A flowchart of a crane control method based on multi-drive function redundancy is provided for this embodiment; the crane control method based on multi-drive function redundancy is applied to the crane control system based on multi-drive function redundancy described above, and includes:

[0075] S1210, acquire fault information fed back by the multi-drive redundancy device; the multi-drive redundancy device comprises a hoisting mechanism, a trolley mechanism, a crab mechanism and a load micro-motion mechanism; the fault information comprises a type of a faulty drive in the multi-drive redundancy device;

[0076] S1220, determine a corresponding target redundancy module from the multi-drive function redundancy channel selection device based on the fault information; the multi-drive function redundancy channel selection device comprises hoisting drive redundancy, trolley drive redundancy, hoisting and trolley shared redundancy, crab drive redundancy and load micro-motion drive redundancy.

[0077] S1230, transmit a switching control instruction to the target redundancy module; the switching control instruction is used to control a contactor connected with the faulty drive to switch to a drive of the target redundancy module.

[0078] In some embodiments, S1220, determining the corresponding target redundancy module from the multi-drive function redundancy channel selection device based on the fault information comprises:

[0079] determining, based on the fault information, that the target redundancy module has a same type of drive as the faulty drive from the multi-drive function redundancy channel selection device.

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

[0081] In a case where the faulty drive is the hoisting mechanism or the trolley mechanism, the target redundancy module is a redundancy module having a hoisting drive or a trolley drive.

[0082] It should be noted that the crane control method based on multi-drive function redundancy provided by the embodiments of the present application is based on the same application concept as the crane control system based on multi-drive function redundancy provided by the foregoing embodiments, and therefore the specific implementation of this embodiment can be referred to the implementation of the foregoing crane control system based on multi-drive function redundancy, and the repeated parts will not be described herein.

[0083] It is understood by those skilled in the art that features recited in the various embodiments and / or claims of the present application can be combined and / or incorporated in various combinations, even if such combinations have not been recited specifically in the present application. In particular, features recited in the various embodiments and / or claims of the present application can be combined and / or incorporated in various combinations without departing from the spirit and teachings of the present application. All such combinations and / or incorporations are within the scope of the present application. Therefore, the scope of the present application should not be limited to the above-described embodiments, but should be determined by the appended claims, and equivalents thereof. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A crane control system based on multi-drive functional redundancy, characterized in that, The application relates to a PLC controller, a multi-drive function redundant channel selection device and a multi-drive redundant device. The multi-drive function redundant channel selection device comprises redundant hoisting drives, redundant trolley drives, shared hoisting and trolley drives, redundant trolley drives and redundant hoist micro-drive drives. The multi-drive redundant device comprises hoisting mechanisms, trolley mechanisms, trolley mechanisms, hoist micro-drive mechanisms and corresponding contactors, contactor relays and thermal magnetic circuit breakers. The PLC controller is electrically connected with the multi-drive function redundant channel selection device and the multi-drive redundant device. The hoisting drives corresponding to different hoisting mechanisms are redundant.

2. Crane control system based on multiple drive function redundancy according to claim 1, characterized in that, The main contact input end of the contactor of the hoisting mechanism is electrically connected with the output end of the hoisting drive in three phases, and the main contact output end is electrically connected with the three-phase control terminal of the motor of the hoisting mechanism. The hoisting mechanism comprises a first hoisting mechanism and a second hoisting mechanism.

3. Crane control system based on multiple drive function redundancy according to claim 2, characterized in that, The drive of the first hoisting mechanism redundantly drives the motor of the second hoisting mechanism through contactor switching, or the drive of the second hoisting mechanism redundantly drives the motor of the first hoisting mechanism through contactor switching. The trolley drives corresponding to different trolley mechanisms are redundant.

4. The multi-drive function redundancy based crane control system as claimed in claim 1, wherein, The main contact input end of the contactor of the trolley mechanism is electrically connected with the output end of the trolley drive in three phases, the main contact output end is electrically connected with the main contact input end of the normal contactor of the trolley drive in three phases, the main contact output end of the normal contactor is electrically connected with the input end of the trolley motor thermal magnetic circuit breaker in three phases, and the output end of the trolley motor thermal magnetic circuit breaker is electrically connected with the three-phase control terminal of the motor in three phases. The drives corresponding to the hoisting mechanism and the trolley mechanism are redundant.

5. The multi-drive function redundancy based crane control system as claimed in claim 1, wherein, The hoisting mechanism comprises a first hoisting mechanism, and the trolley mechanism comprises a first trolley mechanism.

6. Crane control system based on multiple drive function redundancy according to claim 5, characterized in that, The drive of the first hoisting mechanism redundantly drives the motor of the first trolley mechanism through contactor switching, and the drive of the first trolley mechanism redundantly drives the motor of the first hoisting mechanism through contactor switching. The trolley drives corresponding to different trolley mechanisms are redundant.

7. The multi-drive function redundancy based crane control system as claimed in claim 1, wherein, The trolley mechanism comprises a first trolley mechanism and a second trolley mechanism.

8. Crane control system based on multiple drive function redundancy according to claim 7, characterized in that, The drive of the first trolley mechanism redundantly drives the motor of the second trolley mechanism through contactor switching, or the drive of the second trolley mechanism redundantly drives the motor of the first trolley mechanism through contactor switching. The micro-drive drives corresponding to different hoist micro-drive mechanisms are redundant.

9. The multi-drive function redundancy based crane control system as claimed in claim 1, wherein, The hoist micro-drive mechanism comprises a first hoist micro-drive mechanism and a second hoist micro-drive mechanism.

10. The redundant crane control system based on multiple drive functionality of claim 1, wherein, The drive of the first hoist micro-drive mechanism redundantly drives the motor of the second hoist micro-drive mechanism through contactor switching, and the drive of the second hoist micro-drive mechanism redundantly drives the motor of the first hoist micro-drive mechanism through contactor switching. ​

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