Grab Ship Unloader Electronic Anti Sway And Semi Automatic Operation Model And Its Application Study

Grab ship unloader as the modern logistics key equipment, widely usedfor bulk cargo terminal transportation production, however the unloadertransport process, because the vehicle deceleration and wind disturbancecaused by load sway, not only increases the probability of accidents, but alsoseriously affected the production efficiency improve. Although rely on shipunloading machine operator experience in the actual operation can achievethe safety of goods transport and positioning unloading, but because the skillcrane operator training cycle is long and the intensity of work and otherreasons, the work efficiency is very limited, so it is very necessary to developa grab bucket ship unloader automatic control system, settling on operatorexperience excessive dependence, using a semi-automatic mode of operation,namely, grab in the cabin and run the full automatic control is adopted,thereby greatly improving the work efficiency.Bridge crane control system is the core of the load ’s anti-swingcontrol, while the anti-swing control of the most important is theestablishment of the trolley-load system mathematical model. In recent years,the overhead traveling crane positioning and anti-swing control research hasattracted much interest, many scholars have done much research, the mainmethod is to input shaping control open loop control[1], gain control[3], statefeedback[7][8], fuzzy control[2][4][5][6]. According to the operation of overhead traveling crane grab stress analysis, using the optimal control theory, thepaper crane horizontal moving rule and running distance control optimal timecontrol method, and grab swing rule and need not detect angle anti-swaycontrol of optimal time control method, establishes crane horizontalmovement and grab swing relationship mathematical model, and the model isverified by experiments, for Majishan grab bucket ship unloader.Grab ship unloader anti sway control system by Baosteel TransportMinistry of research and development, research and development staff toovercome the no ready-made template and test high risk and difficult, theexperimental verification of the model, into the computer programminglanguage, the successful development of grab ship unloader semi-automaticaction industry automatic control system. The system put into operation in2010October, and for a period of two months of function evaluation,operation has stable system performance, convenient operation, convenientmaintenance, safety and high efficiency, and meets the design specifications,the results have reached the expected target of users, to meet user demand forservice. Software development with the acceptance criteria.