防摇控制系统在集装箱起重设备中的研究与应用

对集装箱起重设备中小车定位及负载摇晃问题进行了研究。通过拉格朗日分析法,建立了小车负载的动态模型,提出了采用2段加速及叠加防摇速度分量驱动小车从而抑制负载摆动的方法,并在Simulink环境中对以上分析进行了仿真验证。在此基础上,实际开发了1套防摇控制系统并进行PLC编程,实现了小车手动和自动防摇运行功能。该系统已成功应用于集装箱场桥和岸边集装箱装卸桥,应用结果表明系统具有良好的定位性能和防摇效果。

Research and application of anti-sway control system in container cran es

The paper carries out studies on problems of the cont ai ner cranes such as trolley positioning and load sway.By Lagrangian analysis,th e paper establishes dynamic model of trolley load,proposes to suppress the load sway by driving the trolley via methods of two-stage acceleration and anti-sw ay velocity component,and performs simulation validation in the Simulink enviro nment.On the basis,the paper actually develops a set of anti-sway control sys tem and conducts PLC programming,achieving the trolley manua...