Optimization Design And Research Of Bridge Crane Control System For Nuclear Waste Stacking

Hangche,also known as bridge crane,is usually used for heavy materials handling in warehouses or workshops and it plays an important role in industrial production.In the nuclear power station,the waste barrel access work is also mainly completed by the cranes,due to its special working environment and the higher requirements are required for the safety,stability,positioning accuracy and degree of automation,traditional cranes can not be qualified.Therefore,this article combines the advanced power electronics technology,computer network technology and intelligent control algorithms etc to improve the crane's original control system,so that the performance of the crane has been greatly improved to meet the above control requirements.Firstly,the paper adopts the PLC – inverter control system to replace the original contactor – relay control system and adopts the variable frequency speed control method to replace the traditional rotor series resistance speed regulation mode.In order to reduce the starting and braking impact and guarantee the positioning accuracy,the s-shaped speed curve is designed for the big car and the small car.At the same time,in order to avoid the phenomenon of rail gnawing,the main and subordinate synchronization control is adopted to the big car,and the subordinate end speed of the car is compensated based on the displacement deviation.Secondly,based on the nonlinear characteristics of the crane hoisting mechanism's speed control system,the paper combines the fuzzy control and PID control to form the fuzzy PID controller to improve its dynamic and static performance.The MATLAB simulation shows that the controller suppresses the speed overshoot effectively and increases the running stability of the hoisting mechanism.At the same time,in order to guarantee the real-time performance of the control,the fuzzy control query table of PID parameter adjustment is obtained by fuzzy reasoning,and it is stored in the DB block of Siemens 300 PLC for calling.Moreover,in order to avoid the collisions between the solid barrel and obstacles when the crane runs to the warehouse automatically,this paper establishes the crane running environment map through the grid method firstly and on this basis,ant colony algorithm is used to plan the operation path of the crane which is also known as the handling path of the solid barrel in static environment.In the case of the dynamic obstacle breaking into the operating environment,the corresponding obstacle avoidance strategy is proposed and the partial obstacle avoidance path is planned according to the motion state of the intrusion obstacle and the rolling window method.Partition the barrel storage warehouse space and number the storage positions,after the crane enters the warehouse area,the PLC determines running distance of the big car and the small car from the warehouse gate to the target storage position and hook drop distance according to the number of the input target position.Then the big car and the small car select the appropriate speed curve automatically according to the respective running distance to deliver the barrel to the target position smoothly.At last,in order to monitor the running status of the crane and the storage status of the barrel in the warehouse,WinCC is used as the configuration software of the upper computer control system.The corresponding process picture is designed on the basis of setting up the communication mode between WinCC and S7 automation system.