Positioning And Anti-pendulum Control And Monitoring Diagnostic System For Launching Site Bridge Crane

At present,the core equipment of the bridge crane control system in the launch site mainly adopts imported products.Although it has certain reliability,there are a lot of problems in information security,product upgrade and maintenance,and core technology mastery.In recent years,more and more events show that in the field of industrial control,we must take the road of independent development,in order to avoid the occurrence of core technology blockade,key information leakage,industrial control equipment encountered remote damage and other situations.Under the strong promotion of relevant departments of the state,a large number of studies on independently controllable autonomous control of ground facilities and equipment of space launch sites have been carried out,and independently controllable of bridge cranes is part of them.In this paper,a double-loop PID controller is designed according to the crane dynamics model to solve the problems of low control efficiency,poor positioning accuracy and difficult control of swing Angle of the bridge crane.By controlling the displacement and swing Angle of the operating mechanism and adjusting the speed of the motor,the positioning accuracy of the crane can be improved and the swing can be suppressed.In view of the time-varying characteristics of the crane,we adopt the fuzzy control method to set the PID parameters in real time,Then,MATLAB software was used to simulate the control system with different displacement,load weight and wire rope length parameters to verify the effectiveness of the method.Then the control system of the bridge crane is designed,the system adopts industrial control computer + PLC(programmable logic controller)+ inverter frequency control scheme.Industrial computer as the human-computer interaction interface will initial parameters to PLC,PLC execute corresponding positioning anti-swing control program and control signal output to the inverter,the inverter shall be carried out in accordance with the corresponding signal to the motor speed regulation,sensor,displacement and angular information feedback to the PLC to complete the closed-loop control,when the design retains the manual control function of the crane.At the same time,the hardware of the system is analyzed and selected to meet the requirements of autonomous control and system performance.The software of the system is designed,and the realization method of fuzzy self-tuning PID controller is introduced in detail.According to the design scheme,the system designed can achieve the design goal preliminarily and the positioning anti-pendulum control can meet the design requirements.In order to improve the safety of the bridge crane,a crane monitoring and early warning and fault diagnosis system is designed.Sensors are used to monitor the relevant operating parameters of the bridge crane,and the parameters are processed and sent to the early warning module and fault diagnosis module for early warning and diagnosis.Firstly,the project design and sensor selection of the monitoring and early warning part are carried out,and the early warning mechanism of the crane is established,and the data acquisition unit,data processing and early warning disposal unit,monitoring data and curve display unit of the monitoring software are designed.Then the fault analysis and diagnosis module of bridge crane is designed based on the fault tree analysis method.The operation detection parameters are correlated with the events at the bottom of the fault tree,and the abnormal parameters are corresponding to the fault mode,so as to realize the intelligent diagnosis and treatment of some faults.The fault diagnosis module is tested and verified with the historical operation data of the launch site.