Study And Implementation For Control System Of The Straw Grab Grane

The grab crane for straw is a conveyance equipment in biomass electricity generation. It is able to complete piling, inverted piling, feeding and parking, and so on automatically. Generating electricity by biomass requires the grab crane high automation and reliability for the safe working. Therefore, motion control and anti-sway control are the keys in the project. This paper will introduce the theoretical research and a practical application.As for the control system of grab crane, the main tasks in this paper are:First, it analyzes the requirements for the grab crane by straw power plants. On the base of the requirements, the difficulties in control system are picked up; the general design scheme for control system is proposed.A composite control strategy, which is based on the"Composite Structure", was proposed in order to adjust the position synchronization for two motors in the grab crane. The position synchronization control for two motors has two structures that are called"Serial Structure"and"Parallel Structure". But both are not able to ensure the control requirement for the grab crane, but the composite control strategy has the ability to meet the demand for dynamic and static performance index.The second, rocking is a common problem in operation of the grab crane. The analysis of the grab crane's rocking law which is caused by control force, is given in paper, and a simulation is also given to verify the correctness of analysis method. Specially, it's proposed an anti-sway method from the practical point of view.At last, the grab crane control system is perfect . It has the ability to realize the centralized monitoring for grab crane groups and the decentralized control for single device with the help of PLC. The practical verification shows that the system can meet the require of generating electricity by biomass.