The invention discloses an automatic deviation correction control method for a gantry crane, which comprises the following steps of: after the gantry crane is started, acquiring the speed V < rigid > and the displacement X < rigid > of a rigid support leg once every time T is passed, and acquiring the speed V < soft > and the displacement X < soft > of a flexible support leg; after each time of data acquisition, X difference is calculated, and X difference = X soft real-X rigid real; after the X difference is calculated every time, the size of the absolute value of the X difference relative to the four-thousandth Y width and the six-thousandth Y width is judged and recorded; according to a judgment result, judging deviation, no deviation or shutdown; when deviation is judged twice continuously, the moving direction of the gantry crane is recognized, and whether the X difference is a positive number or not is judged; and regulating and controlling the output frequency of the motor on one side of the flexible supporting leg according to a judgment result. The automatic deviation rectifying device not only can automatically rectify deviation, but also has the advantages that the deviation rectifying frequency adapts to the moving speed of the gantry crane, deviation rectifying control operation is simple, and maintenance and alarm can be carried out.
本发明公开了一种龙门吊自动纠偏控制方法,它包括以下步骤,龙门吊启动后,每经过时间T,获取一次刚性支腿的速度V刚和位移X刚实,获取柔性支腿的速度V柔和位移X柔实;每次获取数据后,计算一次X差,X差=X柔实‑X刚实;每次计算出X差后,判断一次X差的绝对值相对千分之四Y宽和千分之六Y宽的大小,并记录;根据判断结果,判定为偏差、未偏差或停机;当出现连续两次判定为偏差时,识别龙门吊移动方向,并判断X差是否为正数;再根据判定结果进行柔性支腿一侧电机输出频率的调控操作。本发明不仅能够自动纠偏,还具有纠偏频率自适应龙门吊移动速度、纠偏控制操作较简单和能进行维护报警的优点。
Automatic deviation correction control method for gantry crane
一种龙门吊自动纠偏控制方法
2024-05-28
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Automatic deviation rectification control system and control method for gantry crane cart
European Patent Office | 2024
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