The Reserch Of Crane Load's Anti-sway Control And The Design Of Control Card

As the global ecnomic and trade's development, container transport has increased fastly, and the gantry crane developes towards large-scale, and the speed of crane's trolley and load's work height also have improved. But at the same time, we have waste much time to solve the load's sway and crane's fast contraposition. This will influnce work efficiency, so the research and solution of crane load's anti-sway are very important.The kinds of the load's anti-sway usually include mechanical system, hydraulic system, wire rope system, mechanical electronic system and intelligent electronic system. After studying on the current application status of load's anti-swing control technology of crane, the research emphasis of this thesis is on the design of intelligent crane load's anti-swing control techonolgy. The thesis has gived the detailed method of the control system, and developed control card based on PCI bus and DSP, which is the core of anti-sway control system.The dynamic analysis for the crane-load or the trolley-load system is the foundation for solving the problem of the crane-load's anti-sway. The crane-load system's dynamic equations were constructed for the overhead crane, and the two-degree-of-freedom angle model was derived based on linear simplification for the system's dynamic equations. The system's dynamic equation shows that load's hoist rope length and the acceleration of the crane or the trolley are the main influencing factors for the load's swing angle, and the effect of the crane's running and the effect of the trolley's running on the load's swing angle are identical.After analyzing the crane-load dynamic system, this paper develops one intelligent anti-sway control card. The design used DSP TMS320F2812 as the core chip of the control card, and completed the design of the card's hardware and card driver. The hardware design includes PCI interface, signal collecting for photoelectric coder, D/A conversion, digital I/O, and DSP peripheral interface. The card driver is developed in Windows operation system using WinDriver, which can reduce the design time and improve efficiency. The design flow of the anti-sway control card is also introduced particularly. The design adopted modularization method for programming the DSP main program, including DSP initialization module, communication with PC, and other testing module of the control system.