Research And Design Of High Performance Crane Controller

With the rapid development of China’s industry,the application of various cranes in industrial production has accounted for an increasing proportion,while the requirements for crane controller are further enhanced.Especially in today’s rapid economic development,there are many domestic manufacturers can produce more advanced crane control equipment,but most of them are using foreign technology,their own profits are not high,and the market demand is very large.It is under such power and pressure that some manufacturers are prepared to independently develop high-performance crane control equipment.In this thesis,the bridge crane is taken as the main research object.Through the study of crane control system at home and abroad,and the original crane working data of the cooperator,combined with the main development trend of crane controller in recent years,the traditional single speed regulation system is replaced by the variable voltage and frequency speed regulation.Because of the crane’s own structure and operation mode and other factors,in the past,the material will form reciprocating swing in the process of transportation.Aiming at the defect of the existing crane control system,this thesis presents an anti-swing control method based on bivariate PID and applies this method to the controller designed in this subject.Firstly,the physical model of crane’s lifting weight is analyzed by using the method of theoretical mechanics,and then the corresponding model generated by using simulation software is debugged continuously and compared with the traditional swing-free system.Especially,the system controls the swing angle and the displacement,so that the material transported by the crane can not only reduce the swing,but also reach the designated location more accurately.On the basis of these analysis and debugging,the hardware and software are designed.Finally,through the simulation and field experiment comparison of the system with and without the swing control method,it shows that the method solves the problem well and achieves the special requirements of the cooperative manufacturers for this function.Based on the above purposes,this thesis designs the software and hardware of the crane controller respectively.In order to improve the speed and accuracy of the controller,the lifting part of the system adopts a unique dual-core design.STM32 is the main control chip of the hoisting system,STM32F103VET6 of Italy-France Semiconductor Company is selected,and EPM570T100I5 of ALTERA Company is selected as the auxiliary control chip of the hoisting system by CPLD.The control center of the walking system is composed of the high performance universal frequency converter of Invertek P2 with built-in PLC.By programming with the chip and PLC,the software control function of the controller is realized.After the hardware and software design of the controller is completed,field experiments are carried out in the factory,and experimental waveforms and data are obtained.The results show that the controller used in this project can fulfill the control and performance requirements of the crane manufacturer.