The invention relates to the technical field of traveling crane control, and discloses a variable-rope-length unmanned traveling crane anti-swing control method. A traveling crane winding drum is provided with a rope length measuring device in signal connection with a traveling crane PLC; according to a rope length L and a speed K of a lifting rope measured by the rope length measuring device whenthe lifting rope is at a constant speed, the PLC determines a time Tb1 and an accelerated speed V1 of a first acceleration stage of an acceleration stage, a time Tb2 and an accelerated speed V2 of asecond accelerating stage, a time Tb3 and an decelerated speed V3 of a first decelerating stage of a decelerating stage and a time Tb4 of a second decelerating stage; and the PLC calculates a real-time speed of the traveling crane and a lifting height of a load according to a built-in control program so as to control a frequency converter to drive a corresponding motor to control traveling of thetraveling crane and ascending or descending of the load in real time, so that the traveling crane control and load positioning times can be within one load swinging period, the traveling crane positioning precision is smaller than or equal to +/-50 mm, and the load swinging angle is controlled within +/-0.6 degree.
本发明涉及行车控制技术领域,公开一种变绳长无人行车防摇摆控制方法,行车卷筒上设有与行车PLC信号连接的绳长测量装置,PLC根据绳长测量装置测量吊绳匀速时的绳长L及速度K,确定加速阶段的第一加速阶段的时间Tb1与加速到的速度V1,第二加速阶段的时间Tb2与加速到的速度V2,减速阶段的第一减速阶段的时间Tb3与减速到的速度V3以及第二减速阶段的时间Tb4;PLC根据内置的控制程序计算出行车的实时速度、吊重的起升高度来控制变频器驱动相应电机实时控制行车的走行及吊重的上升或下降,可使行车控制及吊重定位时间在一个吊重摆动周期内,行车定位精度≤±50mm,吊重摇摆角度控制在±0.6度内。
Variable-rope-length unmanned traveling crane anti-swing control method
变绳长无人行车防摇摆控制方法
2021-01-12
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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