Research On Health Monitoring System Of Gantry Crane

The gantry crane is an important mechanical equipment in the port and the loading and unloading vessel.According to its operating conditions and statistical data,the gantry crane has a hidden danger of serious safety accidents,so it is particularly important to monitor it in real time.Therefore,a system for monitoring the strain,inclination and spatial attitude of the crane is designed in this paper.The relevant work includes the following:First,the development status and trend of the health state monitoring system of cranes are discussed.A three dimensional model of gantry crane is established.Combined with simulation and finite element analysis,the monitoring signals of gantry crane are selected as strain,angle and space posture.The safety state of the gantry crane is obtained by analyzing these measurement signals.The improved Kalman filter is used to fuse multi axis data to achieve the quaternion analysis algorithm of the attitude data,and the whitening of the noise is used to improve the accuracy of attitude settlement.Secondly,the hardware circuit and software interface of the gantry crane health monitoring system are designed and realized.The modules including the stress strain measurement module,the spatial attitude measurement module,the tilt angle measurement module and the wireless data transceiver module have been completed.MCU communicates with sensors through SPI protocol.MCU and wireless modules communicate through serial ports,and wireless modules send data to the host computer through 4G network.The upper part of the system monitors the functions of the software,such as sending and displaying,monitoring and sending signals,local storaging and return visiting,warning of the super threshold data and the overall health status evaluation of the crane.Embedded software mainly completes the initialization of hardware circuit board,operation instruction,data collection,data preprocessing and communication data transmission.Finally,according to the actual conditions,the test experiment is designed.The performance test in the laboratory and the field test of the crane model are carried out in the laboratory,and the test data and the test signal of the actual monitoring object are analyzed.The validity and real-time of the theoretical algorithm and the system scheme are verified.