Research On Crane Safety Monitoring And Anti-sway Control

Because of cranes’ variable speed drives the hoist swing during the transport, which has agreat impact on cranes safety and working efficiency. Under the case of wrong phase sequence andover voltage, Cranes that using three-phase AC power will have errors like wrong operating andoverheating, etc. It will affect the safety of equipment as well as the operator. Base on the abovetwo points crane safety monitoring and intelligent anti-sway control are very important.In this thesis, the crane dynamics equations are set up based on the crane prototype andLagrange Equation, and the hoist swing prototype is gained on the basis of the simplified model.The hoist rope length and the acceleration of cart and trolley are the main factors which affect theload swing angle according to the analysis of the model. Because the instability of the system itself,constitute a closed-loop control system by introducing a state feedback gain regulator. Taking intoaccount measure the real swing angle via sensor has certain degree of technical difficulty and costrequirements, set up a full-dimensional state observer to observe relevant variables through theacquisition of car location information, and provide estimated information to the anti-sway controlsystem in order to let the sway angle decay to zero within the adjust time and error range. After thesimulation the sway angle can promptly decay to zero and has good damping characteristics as wellas dynamic response.At present, there is still a considerable portion of cranes operated by human, while people caneasily feel tired by the monotonous operation, so it may bring some security risk and affect theefficiency. In this paper, the design of crane safety monitor uses the Freescale MC9S12DG128asthe processor, the CAN communication, data acquisition and state detection hardware design aswell as the software design are given. It can ensure the safety of the crane before and during therun-time by testing the power sequence, lack of power equal and detecting overweight, and timelyresponse to unforeseen circumstances, compared to the artificial operation it is more reliable.