| The crane is an essential hoisting tool in the production.At present,most of the crane cranes are still operated manually.Therefore,in the automatic production process of crane,anti-swing control is the key technology to realize automatic lifting operation.According to the existing roof crane mechanism and operation characteristics,the experimental platform for anti-swing control of roof crane spaller is built by using the threecoordinate platform of the laboratory.The existing crane system is reduced to a certain scale,and the parameters such as the length of the crane rope and the mass of the weight are set.The hardware of servo motor,industrial camera,acceleration sensor,limit switch,PLC,servo amplifier,positioning module and extension module in the experiment table were selected.The motion state of spreader is collected by camera,and the swing is eliminated by detecting the swing state of the spreader and controlling the speed and moving direction of the trolley.According to LQ control strategy and PID control strategy,anti-sway control algorithm is deduced and simulated.With rope length as variable,pendulum simulation is carried out for different rope lengths respectively.Pendulum Angle,completion time of pendulum,pendulum time and natural stop time under different control methods are compared and analyzed.The experimental platform is built to test the anti-swing control scheme of spindles based on PID algorithm.The experimental results are consistent with the simulation.The acceleration sensor is used to monitor and check the acceleration of the spout at different time when it swings.Figure 40;Table 13;Reference 46... |
