Crane anti-swing control system for improving loading and unloading stability
阅读说明：本技术 一种提高装卸平稳度的起重机防摇控制系统 (Crane anti-swing control system for improving loading and unloading stability ) 是由 马晓东 蒋冉根 于 2020-06-04 设计创作，主要内容包括：本发明公开了一种提高装卸平稳度的起重机防摇控制系统,包括有可编程控制器、各项机构变频器、起升编码器,各部分间使用EtherNet/IP通讯协定进行组网,通过获取桥式起重机起升,大、小车机构运行参数；根据载荷实际高度配合大、小车的运行参数在运行机构启停时实时调整变频器输出频率以改变运行状态,根据计算得出的载荷摆动参数实时调整运行机构速度曲线。本发明采用采用先进的防摇算法,利用单摆原理测算摆动周期,在加减速初段即进行摇摆估算,在中段和末段进行吊物摆幅控制以达到缩短处理时间的效果,通过调整防摇曲线和刚性,达到缩短停车距离的作用。与传统电子防摇系统相比,本系统在缩短运行机构停车滑行距离方面有着显著的优势。(The invention discloses a crane anti-swing control system for improving loading and unloading stability, which comprises a programmable controller, frequency converters of various mechanisms and a lifting encoder, wherein the frequency converters of the various mechanisms are networked by using an EtherNet/IP communication protocol, and the lifting parameters of a bridge crane and the running parameters of large and small crane mechanisms are obtained; and adjusting the output frequency of the frequency converter in real time to change the running state when the running mechanism is started or stopped according to the actual height of the load in cooperation with the running parameters of the large trolley and the small trolley, and adjusting the speed curve of the running mechanism in real time according to the calculated load swing parameters. The invention adopts advanced anti-swing algorithm, measures and calculates the swing period by utilizing the principle of simple pendulum, carries out swing estimation in the initial stage of acceleration and deceleration, carries out the control of the swing amplitude of the suspended object in the middle stage and the final stage to achieve the effect of shortening the processing time, and achieves the effect of shortening the parking distance by adjusting the anti-swing curve and the rigidity. Compared with the traditional electronic anti-shaking system, the system has remarkable advantages in the aspect of shortening the parking sliding distance of the running mechanism.)
1. A crane anti-swing control system for improving loading and unloading stability comprises a programmable controller, frequency converters of various mechanisms and a lifting encoder, and is characterized in that networking is performed among the parts by using an EtherNet/IP communication protocol, and the lifting of a bridge crane, and the running parameters of large and small crane mechanisms are obtained; and adjusting the output frequency of the frequency converter in real time to change the running state when the running mechanism is started or stopped according to the actual height of the load in cooperation with the running parameters of the large trolley and the small trolley, and adjusting the speed curve of the running mechanism in real time according to the calculated load swing parameters.
2. The crane anti-swing control system for improving loading and unloading stability of claim 1, wherein the anti-swing control system adopts an advanced anti-swing algorithm, measures and calculates the swing period by using the principle of simple swing, performs swing estimation in the initial stage of acceleration and deceleration, performs the swing control of the hoisted object in the middle and final stages to achieve the effect of shortening the processing time, and achieves the effect of shortening the parking distance by adjusting the anti-swing curve and the rigidity.
3. The crane anti-swing control system for improving loading and unloading stability according to claim 2, wherein the anti-swing control system provides a function of setting the height of the hoisted object, an operator can set the actual height of the hoisted object through a touch screen, and the anti-swing system automatically performs anti-swing compensation according to the setting, so that the crane anti-swing control system has better use flexibility.
4. The crane anti-swing control system for improving loading and unloading stability according to claim 3, wherein the anti-swing control system uses a wireless visual touch screen to visually observe operation parameters such as motor current, operation speed, opening and closing states of a limiting (overload) device, height of a lifting hook, total operation time and times of the crane and the like of each mechanism of the crane, so as to provide reliable data support for management and maintenance of the crane equipment by a user.
5. The crane anti-swing control system for improving loading and unloading stability according to claim 4, wherein the anti-swing control system is an open-loop control electronic anti-swing control system, and only a hoisting encoder, and corresponding frequency converters and programmable controllers of various mechanisms are added to hardware.
6. The crane anti-swing control system for improving loading and unloading smoothness as claimed in claim 5, wherein the working principle of the anti-swing control system is as follows:
according to daily observation and analysis of the sway of the suspended object, the sway generated by the lifting hook when the running mechanism is started and stopped can be obtained to be the simple harmonic motion of the lifting hook essentially by a simple pendulum formulaIt can be seen that the swinging of the crane load during constant acceleration depends only on the length L from the trolley to the load center of gravity, i.e. the distance from the drum center to the hook center + the hook center to the load center of gravity, which has the same swinging angle and period with or without load, when the load center of gravity is the same.
7. The crane sway control system for improving handling smoothness of claim 6, wherein the following formula is used to estimate a coasting distance of the crane from full speed to stop: s ═ V (T)n+ t)/4, V: rated speed of the running mechanism; tn is shake-proof compensation time; t normal deceleration time of the running mechanism, the system activates the anti-shake function block on the premise of measuring the load gravity center length L, the speed of the frequency converter is given and input, the speed threshold values at the beginning and the end of anti-shake are adjusted, and the anti-shake curve and the rigidity are adjustedThe value of Tn has been reduced, thereby reducing the sliding distance of the crane.
8. The crane anti-sway control system for improving handling smoothness of claim 7, wherein said anti-sway control is a control of load sway by calculating a running speed V-curve by said open loop control electronic anti-sway control system for a duration of time below an anti-sway stop speed threshold.
9. The system of claim 7, wherein the detection of the load center of gravity length L is used to calculate the time to stop, and the length L is determined using a multi-position selector switch or encoder, plus the height of the load center of gravity.
10. The crane sway control system for improving handling smoothness of claim 7, wherein for a given speed V, the stopping distance is optimized by:
A. giving 2 preset speeds V and operation commands to corresponding functional blocks;
B. giving 4 preset speeds V and operation commands to corresponding functional blocks;
C. and giving the analog quantity speed V and the running command to the corresponding functional block.
Technical Field
The invention relates to the field of hoisting and transporting equipment, in particular to a crane anti-swing control system for improving loading and unloading stability.
Background
With the development of economic trade globalization, the transportation industry is rapidly increased, the transported objects are correspondingly increased, the crane is developed to be large-scale, and the running speed of the travelling trolley of the crane and the lifting height of the large objects are correspondingly improved. Because the length of the suspended steel wire rope is increased, the speed of the steel wire rope in the vertical and horizontal 2 directions is increased, the visual range of a driver is continuously increased, and the hook following operation is more and more difficult, so that more and more time is spent in the links of eliminating the swing of a large object and quickly and correctly carrying the object (a lifting appliance is in butt joint with the object, and the lifted object is in butt joint with a chassis, an AGV trolley, a storage yard or a cabin, and the box), and the production efficiency and the loading and unloading speed are greatly influenced. How to stabilize the lifting appliance and to stably operate becomes the problem of common attention, and the anti-swing technology capable of effectively improving the operation of the large-object crane also obtains the key attention and research of various crane manufacturers and research institutions. The sling and the system of the large object crane at the present stage adopt the anti-swing technology comprising: mechanical and electronic.
The mechanical anti-swing aims to finally eliminate swing by consuming swing energy through a mechanical means, or inhibits swing by increasing the rigidity of a suspension system, and the existing mechanical anti-swing mode mainly achieves the aim of inhibiting swing through different designs of a steel wire rope winding system; however, the mechanical anti-swing device has the defects of complex mechanism, poor reliability, large maintenance workload and the like, and meanwhile, the anti-swing effect is not ideal under the condition that the lifting steel wire rope is longer. Moreover, the mechanical anti-swing means has obvious anti-swing effect when being fully loaded, but has slow swing attenuation and slow reaction when being unloaded.
The traditional electronic anti-shake method usually adopts PLC to realize closed-loop PID control, wherein the closed-loop PID control is realized by transmitting detected information (such as a swing angle, an angular velocity and the like) to a microcomputer of a control system through various sensors and detection elements, and the optimal control parameters (such as PD/PID control parameters) are provided for a trolley speed regulation system to control the running of the trolley after being processed by control software inside the microcomputer, so that the swing amplitude of a lifting appliance and a load is reduced. The traditional electronic anti-swing system can effectively control swing usually, but a port is often influenced by stormy waves, the conventional PD control is often difficult to work, the speed of the trolley is frequently adjusted too frequently in practical application, and under the condition of driving, a driver cab can shake back and forth after reaching a target position along with the action of the electronic anti-swing system, so that a driver feels uncomfortable.
The bridge crane is an important tool and equipment in modern industrial manufacturing and logistics transportation, however, when the crane is used for loading and unloading goods, due to the speed change of a cart and/or a trolley and the influence of external interference factors, the lifting hook swings back and forth and left and right, certain potential safety hazards are caused while the production efficiency is influenced, and therefore, the anti-swing technology for the crane, which is used for realizing stable loading, unloading, lifting and hoisting of the goods, is very significant.
Disclosure of Invention
The invention aims to solve the problems and designs a crane anti-swing control system for improving the loading and unloading stability.
The technical scheme of the invention is that the crane anti-swing control system for improving the loading and unloading stability comprises a programmable controller, frequency converters of various mechanisms and a lifting encoder, wherein the frequency converters of the various mechanisms are networked by using an EtherNet/IP communication protocol, and the lifting parameters of a bridge crane, large and small car mechanisms are obtained; and adjusting the output frequency of the frequency converter in real time to change the running state when the running mechanism is started or stopped according to the actual height of the load in cooperation with the running parameters of the large trolley and the small trolley, and adjusting the speed curve of the running mechanism in real time according to the calculated load swing parameters.
Furthermore, the anti-swing control system adopts an advanced anti-swing algorithm, measures and calculates the swing period by utilizing the principle of simple swing, performs swing estimation in the initial stage of acceleration and deceleration, performs hanging swing amplitude control in the middle stage and the final stage to achieve the effect of shortening the processing time, and achieves the effect of shortening the parking distance by adjusting an anti-swing curve and rigidity.
Furthermore, the anti-shaking control system provides a function of setting the height of the hoisted object, an operator can set the actual height of the hoisted object through the touch screen, and the anti-shaking system automatically performs anti-shaking compensation according to the setting, so that the anti-shaking control system has better use flexibility.
Furthermore, the anti-swing control system can visually observe the operation parameters such as the motor current, the operation speed, the opening and closing state of the limiting (overload) device, the height of the lifting hook, the total operation time and the times of the crane and the like of each mechanism of the crane by using the wireless visual touch screen, and provides reliable data support for the management and the maintenance of the hoisting equipment by a user.
Furthermore, the anti-swing control system is an open-loop control electronic anti-swing control system, and only a lifting encoder, corresponding frequency converters of various mechanisms and a programmable controller are added to hardware.
The working principle of the anti-shaking control system is as follows:
according to daily observation and analysis of the sway of the suspended object, the sway generated by the lifting hook when the running mechanism is started and stopped is essentially simple pendulum harmonic motion of the lifting hook, the sway of the crane load is only determined by the length L from the trolley to the load gravity center in the constant acceleration process according to a simple pendulum formula, the length L of the load gravity center is the distance from the reel center to the lifting hook center plus the length L of the lifting hook center to the load gravity center, and under the condition that the length L of the load gravity center is the same, the sway angle and the period are the same regardless of whether the load exists or not.
Further, the following formula is used to estimate the glide distance, V, of the crane from full speed to stop: rated speed of the running mechanism; tn is shake-proof compensation time; t normal deceleration time of the running mechanism, the system activates the anti-swing function block on the premise of measuring the load gravity center length L, the speed of the frequency converter is given and input, the speed threshold values at the beginning and the end of anti-swing are adjusted, the anti-swing curve and the rigidity are adjusted, the Tn value is reduced, and therefore the effect of reducing the sliding distance of the crane is achieved.
Further, the anti-shaking control is to calculate a running speed V curve through the open-loop control electronic anti-shaking control system to control the load shaking for a duration below an anti-shaking stop speed threshold.
Further, the detection of the load center of gravity length L to which the load center of gravity height is added is used to calculate the time for the parking distance, and the load center of gravity length L is determined using a multi-position selection switch or an encoder.
Further, for a given speed V, the distance-optimized mode of operation is stopped:
A. giving 2 preset speeds V and operation commands to corresponding functional blocks;
B. giving 4 preset speeds V and operation commands to corresponding functional blocks;
C. and giving the analog quantity speed V and the running command to the corresponding functional block.
The method has the beneficial effects that 1, the advanced anti-swing algorithm is adopted, the swing period is measured and calculated by utilizing the simple pendulum principle, the swing estimation is carried out at the initial stage of acceleration and deceleration, the suspension swing amplitude control is carried out at the middle stage and the final stage so as to achieve the effect of shortening the processing time, and the effect of shortening the parking distance is achieved by adjusting the anti-swing curve and the rigidity. Compared with the traditional electronic anti-shaking system, the system has remarkable advantages in the aspect of shortening the parking sliding distance of the running mechanism.
2. The invention is an open-loop control electronic anti-swing control system, only a hoisting mechanism rotary encoder, corresponding frequency converters of various mechanisms and a programmable controller are needed to be added on hardware, compared with a mechanical anti-swing device, the invention avoids the adverse effect on the structure and the performance of the crane caused by the addition of a mechanical device on the crane, and avoids the problems of the service life, the reliability, the maintenance and the like of the mechanical device; compared with a closed-loop control anti-shaking electronic control system, the system does not need to be additionally provided with hardware equipment such as an anti-shaking control card, an operating mechanism sensor, an angle sensor and the like; on the premise of ensuring the anti-shaking performance, the crane has good economical efficiency, adaptability and operability, reduces the manufacturing, using and maintaining costs, and can be used for manufacturing and transforming most bridge cranes at present.
Drawings
FIG. 1 is a schematic diagram of the mechanism of wobble generation;
FIG. 2 is a force analysis diagram of a shaken object.
Detailed Description
The invention is described in detail with reference to the accompanying drawings, as shown in fig. 1-2, a crane anti-swing control system for improving loading and unloading stability, the system hardware mainly comprises a programmable controller, frequency converters of various mechanisms and a lifting encoder, the system hardware uses an EtherNet/IP communication protocol to carry out networking among various parts, and the lifting of a bridge crane and the running parameters of large and small car mechanisms are obtained; adjusting the output frequency of the frequency converter in real time to change the running state when the running mechanism is started or stopped according to the actual height of the load and the running parameters of the large trolley and the small trolley; adjusting the speed curve of the running mechanism in real time according to the calculated load swing parameters, and eliminating the adverse effect of anti-swing on the increase of the sliding distance when the running mechanism of the crane stops to the maximum extent;
the system adopts an advanced anti-swing algorithm, measures and calculates the swing period by utilizing the principle of simple pendulum, performs swing estimation in the initial stage of acceleration and deceleration, performs lifting swing amplitude control in the middle stage and the final stage to achieve the effect of shortening the processing time, and achieves the effect of shortening the parking distance by adjusting an anti-swing curve and rigidity. Compared with the traditional electronic anti-shaking system, the system has remarkable advantages in the aspect of shortening the parking sliding distance of the running mechanism.
Compare with other anti-swing systems, because hang the thing height and cause the focus to change the problem that influences anti-swing performance when different loads of same hoisting equipment handling because it is different, this system provides the function of setting for hanging the thing height, and operating personnel accessible touch-sensitive screen sets for different thing focus actual heights that hang, and anti-swing system prevents shaking the compensation according to setting for the automation, has better use flexibility, provides one kind and can both provide the bridge crane of excellent anti-swing performance under the multiple condition.
The system has excellent man-machine effect and operability, and operating personnel can visually observe operating parameters such as motor current, operating speed, opening and closing states of a limiting (overload) device, height of a lifting hook, total operating time and times of the crane and the like of each mechanism of the crane by using the wireless visual touch screen, so that reliable data support is provided for management and maintenance of hoisting equipment by users.
The system is an open-loop control electronic anti-swing control system, and only a hoisting mechanism rotary encoder, corresponding frequency converters of various mechanisms and a programmable controller are added to hardware.
Compared with a mechanical anti-swing device, the crane anti-swing device avoids the adverse effects on the structure and the performance of the crane caused by the addition of a mechanical device on the crane, and avoids the problems of service life, reliability, maintenance and the like of the mechanical device.
Compared with a closed-loop control anti-shaking electronic control system, the system does not need to be additionally provided with hardware equipment such as an anti-shaking control card, an operating mechanism sensor, an angle sensor and the like; on the premise of ensuring the anti-shaking performance, the crane has good economical efficiency, adaptability and operability, reduces the manufacturing, using and maintaining costs, and can be used for manufacturing and transforming most bridge cranes at present. The mechanism of the shaking is shown in figure 1, and according to observation and principle analysis, the shaking generated by the lifting hook when the movement mechanism is started and stopped is essentially simple harmonic movement of the lifting hook, as shown in figure 2, the shaking is generated by a simple pendulum formula
The following formula is used to estimate the glide distance of the crane from full speed to stop:
S＝V(Tn+ t)/4, V: rated speed of the running mechanism; tn is shake-proof compensation time; t normal deceleration time of the running mechanism. The system activates the anti-swing function block on the premise of measuring the gravity center length L of the load, the speed of the frequency converter is given and input, the speed threshold values at the beginning and the end of anti-swing are adjusted, the anti-swing curve and the rigidity are adjusted, and the Tn value is reduced, so that the function of reducing the sliding distance of the crane is achieved. The anti-swing control is to control the load swing by calculating the running speed V curve through the open-loop control electronic anti-swing control system, and the load swing is controlled to last for a time under the anti-swing stop speed threshold value.
The detection of the load center of gravity length L, to which the load center of gravity height is added, is used to calculate the time to park the distance, and the load center of gravity length L is determined using a multi-position selector switch or encoder. For a given speed V, the distance-optimized mode of operation is stopped: A. giving 2 preset speeds V and operation commands to corresponding functional blocks; B. giving 4 preset speeds V and operation commands to corresponding functional blocks; C. and giving the analog quantity speed V and the running command to the corresponding functional block.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.
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