Research On Automatic Anti-twist System For Container Crane Based On PCC

In recent years,with the development and prosperity of the national economy,the throughput of port has been increasing,which provides strong support for China's economic development.As one of the most important equipments in container yard,bridge crane is attracting more and more attention.To improve the efficiency of bridge crane,we need to increase the speed of mechanism.The increase in speed will make the sway amplitude of the spreader stronger,causing difficulties for the driver to work on the box.It can reduce or even eliminate the swing of the hoist,and automatically eliminate the torsion angle.It can effectively improve the working efficiency of the driver by adjusting the twist angle of the crane,according to the actual working condition.Therefore,the research of automatic twist control system is significant for reducing labor cost,improving port throughput and reducing loading and unloading energy consumption.Combined with the structure of the suspension bridge of the wharf,this paper analyzes the mechanism of the twist during the lifting of the hanger,and studies the causes of the torsion angle of the hanger,and designs and builds a simulation test bench for the operation of the container crane.The test rig is roughly designed at the proportion of the bridge crane 20:1,which mainly includes the structure of the door frame,the main car,the lifting structure and the wire rope,the rotated device,the moving mechanism,and the hanger and so on.The main body of the test bed is 2.5 meters long,1 meters wide and 2 meters high.Kinematics analysis of container crane is carried out during the process of the lifting,and the mechanism model of container torsion is established.The relationship between the location and length of container crane is analyzed.The positive solution of the position and posture of the platform is completed by the Newton iterative method.On this basis,the corresponding relationship between the speed and acceleration of the length of the rope on the position and posture of the platform are analyzed,namely the first-order and two order motion influence coefficients.The method is used to calculate and analyze the workspace of the test-bed.The inverse Jacobi matrix analysis method is used to calculate the speed space of the test rig.The inverse programming of the test rig is programmed with MATLAB,and the positive solution program is written in C++ language.Based on the theoretical analysis,a PID controller is used as the core to design a torsional control algorithm in the process of intelligent container crane,and the algorithm is simulated.The control program is written in Automation Studio software,including driver and main control program,which is debugged on the test-bed.The interface is compiled by VNC,and the upper computer interface is written by this paper.At the same time,the error between the forward and inverse solutions of the container crane model is within 0.8%,and the model establishment is more accurate.Design wharf container automatic anti torsion algorithm,carry on the simulation,carry on the actual test on the torsion proof test rig,the error is within the range of 1.2%,provide the theoretical reference for the research of container anti torsion of the automatic wharf.