The invention discloses a lifting appliance posture calibration method for a full-function trolley container portal crane. The lifting appliance posture calibration method comprises the steps of position calculation, calibration of a return-to-zero position and invalid protection of a winding drum position. The position calculation comprises the following steps: collecting the pulse quantity of an incremental encoder on an auxiliary motor and the count of a frequency converter through a PLC (Programmable Logic Controller), and calculating to obtain the position of the winding drum; the attitude angle of the lifting appliance is calculated according to the position of the winding drum; the calibration of the return-to-zero position is that when the moments of the auxiliary steel wire ropes are the same, the position of the winding drum is set to be the return-to-zero position; the reel position invalid protection is that when the position of the reel obtained by calculation of the PLC exceeds the upper limit and the lower limit, the position of the reel is invalid, and the position is calibrated again. According to the invention, the position of the auxiliary steel wire rope is calculated at the PLC through an accumulator method by utilizing the position output of signals of the incremental encoder after being processed by the frequency converter, so that the attitude angle of the lifting appliance is calculated.
本发明公开了一种用于全功能小车集装箱门式起重机的吊具姿态标定方法,包括位置计算、标定归零位置和卷筒位置无效保护;所述位置计算为:通过PLC控制器采集辅助电机上增量编码器的脉冲量和变频器的计数,计算得到卷筒的位置;以及再通过所述卷筒的位置计算得到吊具的姿态角度;所述标定归零位置为:当辅助钢丝绳的力矩相同时,将所述卷筒的位置设置为归零位置;所述卷筒位置无效保护为:当所述PLC控制器计算得到所述卷筒的位置超出上、下限时,则该所述卷筒的位置为无效,重新标定位置。本发明利用增量编码器信号在变频器处理后的位置输出,在PLC通过累加器方法计算出辅助钢丝绳位置,进而计算吊具姿态角度。
Lifting appliance posture calibration method for full-function trolley container portal crane
用于全功能小车集装箱门式起重机的吊具姿态标定方法
2023-06-13
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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