CN202164051U - Horizontal movement controller of crane - Google Patents
Horizontal movement controller of crane Download PDFInfo
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- CN202164051U CN202164051U CN2011201641349U CN201120164134U CN202164051U CN 202164051 U CN202164051 U CN 202164051U CN 2011201641349 U CN2011201641349 U CN 2011201641349U CN 201120164134 U CN201120164134 U CN 201120164134U CN 202164051 U CN202164051 U CN 202164051U
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Abstract
The utility model provides a horizontal movement controller of a crane, which comprises a central control circuit, a power circuit, an operating command acquisition circuit, a thyristor driving circuit, a motor reversing and gear-shifting driving circuit, a synchronizing signal acquisition circuit, a parameter setting instrument and a liquid crystal display, wherein the operating command acquisition circuit, the thyristor driving circuit, the motor reversing and gear-shifting driving circuit, the synchronizing signal acquisition circuit and the parameter setting instrument are all connected with the central control circuit; and the power circuit is connected with the central control circuit, the operating command acquisition circuit, the thyristor driving circuit, the motor reversing and gear-shifting driving circuit and the synchronizing signal acquisition circuit. The horizontal movement controller is most applicable to the horizontal movement control in which a double-speed motor is used as an actuator, especially the horizontal movement of the crane, such as control on traveling, rotating and amplitude changing. The shaking switching is avoided during the switching operation of the double-speed motor, and the horizontal movement controller also can be used for operation without shaking in other industries similar to the double-speed motor, so as to be beneficial to the large-scale popularization and application.
Description
Technical field
The utility model belongs to Motor Control Field, relates in particular to a kind of crane horizontal motion controller.
Background technology
Current China takes single motor stepping transformation method for changing speed more in the travel controls field of tower machine (hoisting crane); As the method for connect different resistance or employing voltage transformer stepping transformation speed change; Or adopt double-speed motor to switch and come shifted method; Produce shake when the operation that above-described two kinds of schemes all can make the tower machine is shifted, influence the safe in utilization and life-span of tower machine, though also there is the Frequency Converter Control technology using; But cost is high, and whether yet can have a kind of quality is outstanding, comparison is cheap and control setup that operate steadily is a problem of needing solution badly.
Summary of the invention
For solving prior art problems, the utility model provides a kind of crane horizontal motion controller.
The utility model technical scheme is: a kind of crane horizontal motion controller; Mainly comprise central control circuit, power circuit, operational order Acquisition Circuit, controllable silicon drive circuit, motor commutation gear shift driving circuit, synchronous signal acquisition circuit, parameter setting instrument and Liquid Crystal Display (LCD); Central control circuit comprises that micro controller system, six silicon control drive pulses produce circuit and an impulse hunting wave generation circuit; Controllable silicon drive circuit is six, and each controllable silicon drive circuit comprises that a silicon control drive pulse produces circuit;
Power circuit is connected with the synchronous signal acquisition circuit with central control circuit, operational order Acquisition Circuit, controllable silicon drive circuit, motor commutation gear shift driving circuit; Thereby power circuit produces two kinds of power supply VCC (5V) and Vdd (3.3V) through two step voltage voltage stabilizings, exports to different circuits respectively;
The operational order Acquisition Circuit receives three way switch amount incoming signal, and circuit output end inserts central control circuit, and central control circuit is input to micro controller system with the output signal in the operational order Acquisition Circuit; The synchronous signal acquisition circuit comprises two photoelectrical couplers and two op amps; The mouth of two photoelectrical couplers is received the in-phase input end of two op amps; The mouth of op amp is received in-phase input end through each self-resistance respectively, and inserts central control circuit; One of them input end that the silicon control drive pulse produces circuit is connected with the pin of micro controller system respectively; Another input end is connected to the mouth of impulse hunting wave generation circuit, and the mouth that the silicon control drive pulse produces circuit is connected to the input end on the controllable silicon drive circuit; Be connected with three single pole double throw switch on the micro controller system, each single pole double throw switch is connected to a pin of micro controller system respectively and is just transporting row, counter-rotating operation, second gear motor movement command signal by three pin generations of micro controller system; Parameter setting instrument is made up of micro controller system, three LED charactrons, two buttons and serial communication interface and subsidiary component thereof; Each LED charactron is all drawn seven data lines from seven cooresponding section, and corresponding section the data line back that links to each other is connected into micro controller system through resistance;
The operational order Acquisition Circuit comprises three identical circuit, and reception three way switch amount incoming signal-just change, counter-rotating and second gear signal are the effective order signal when connection exchanges 48 volts; By exchanging 48 volts is input, is logic level through circuit conversion; With first via signal is example, and said photoelectrical coupler (U31) the 1st pin (positive pole of input diode) of going up is connected on the electrode (0V ~) of 48 volts of power supplys of external communication through port; The 2nd pin (negative pole of input diode) series resistance R31_1, R31, diode (D31) be anodal, be drawn out to terminal ZZ (just changeing the command signal input) from diode (D31) negative pole, connects when order is just being changeed and exchange 48 volts (another electrodes of 48 volts of power supplys); The contact place of R31_1, R31 connects the negative pole of capacitor C 31, and the positive pole of C31 is received photoelectrical coupler (U31) the 1st pin; The 3rd pin of photoelectrical coupler (U31) is received the Power Ground end, and the 4th pin (photoelectric coupler output end) of photoelectrical coupler (U31) connects and draws resistance R 34 to the power supply VCC of power circuit, also receives on the pin (ZI) of micro controller system; This is the just commentaries on classics command signal (low level is effective) of giving micro controller system; The second road signal structure is same as the first via, and its order input is inverted command (FZ), and what give another pin of micro controller system is the FI signal; The Third Road signal structure is also identical, and its order input is second gear order (D2), i.e. high-speed electric expreess locomotive action command, and what give another pin of micro controller system is the DI signal;
The synchronous signal acquisition circuit comprises the three-phase alternating current synchronous acquisition circuit, and the three-phase alternating current synchronous acquisition circuit comprises two photoelectrical couplers and two op amps; Said two photoelectrical couplers are respectively photoelectrical coupler (U41) and following photoelectrical coupler (U43); Two phase R in the three phase mains, T are respectively through two power resistor (R41; R43) it is anodal to receive the light-emitting diode of two photoelectrical couplers; In addition; Also diode of reverse parallel connection is to guarantee that counter-current also can pass through for each light-emitting diode, and the light-emitting diode negative pole of two couplers is connected together on the third phase S that receives three phase mains; The mouth of two photoelectrical couplers (U41, U43) connects respectively and draws resistance (R44; R48) to power supply VCC; Also receive the in-phase input end of two op amps simultaneously, the inverting input of two op amps connects set potential (Vdd), and the mouth of two op amps (TR, TT) is respectively through each self-resistance (R46; R49) receive its in-phase input end, and insert central control circuit;
Power supply connects the base stage to first aerotron through first resistance, first electric capacity in the said controllable silicon drive circuit, has formed the conducting loop of being controlled first aerotron by power supply through first resistance and first electric capacity; And the collecting electrode of second aerotron connects the intersection point place to first resistance and first electric capacity; Last signal end is connected to the base stage of second aerotron through second resistance, forms the control second aerotron conducting whether loop, and then also forms second aerotron and control the whether loop of conducting of first aerotron; Following signal end connects the base stage to the 3rd aerotron through the 3rd resistance, forms control the 3rd aerotron conducting whether circuit; The collecting electrode of first aerotron is connected the lower end, former limit that pulse transformer is directly inserted in the back with the collecting electrode of the 3rd aerotron; The common point that the lower end on the former limit of pulse transformer connects behind first diode through all controllable silicon drive circuits simultaneously connects the negative pole to public stabilivolt, and the positive pole of stabilivolt connects to the upper end on the former limit of pulse transformer and power supply simultaneously; The centre tapped mouth of paying the limit of pulse transformer connects to the silicon controlled negative electrode, and the two ends of paying the limit of pulse transformer connect the positive pole of two diodes respectively, and the negative pole of two diodes connects together, and connects to the silicon controlled control utmost point; Said second diode cathode inserts the base stage of first aerotron and the intersection point of first electric capacity, and the positive pole of second diode inserts the emitter of second aerotron.
Parameter setting instrument is made up of micro controller system, three LED charactrons, two buttons and serial communication interface and subsidiary component thereof; Each LED charactron is all drawn seven data lines from seven cooresponding section, and corresponding section the data line back that links to each other is connected into micro controller system through resistance; Micro controller system connects the base stage to three aerotrons respectively through three lines simultaneously, and the collecting electrode of three aerotrons connects together simultaneously, connects the crus secunda to serial communication interface, and the crus secunda of said serial communication interface is a power end; The emitter of three aerotrons connects the common anodic control end to cooresponding LED charactron respectively; Serial communication interface then accesses to central control circuit; An end of each button all connects to a pin of micro controller system and connects the crus secunda to serial communication interface through a resistance respectively simultaneously in two buttons; Then the company of being connected together is to first pin of serial communication interface for the other end of two buttons, and first pin of said serial communication interface links to each other with holding of central control circuit commonly; The power end of micro controller system connects the crus secunda and first pin to serial communication interface respectively with the ground end; Micro controller system connects tripod and the 4th pin to serial communication interface respectively through bipod on the other hand, forms the data line that carries out the digital communication of serial with central control circuit.
Parameter setting instrument; Can revise any one group of parameter, each group parameter all comprises 8 parameters: percentum, the percentum of second gear electric moter voltage decline when being transformed into one grade of motor operation by the operation of second gear motor and the delay time that parking begins to brake of electric motor starting initial voltage, one grade of (low speed) soft starter for motor time (being begun to the time that applies full voltage by initial voltage), one grade of soft standing time of (low speed) motor (getting back to time of zero more immediately to initial voltage by full voltage), second gear (at a high speed) soft starter for motor time, the soft standing time of second gear (at a high speed) motor, the second gear motor brings into operation when being transformed into the operation of second gear motor by one grade of motor operation voltage.
Advantage of the utility model and beneficial effect: adopt the phase shift of silicon control three-phase to trigger voltage-regulating technique, the startup of control motor, stop and operation at full speed; The utility model is simple for structure reasonable, practical, is suitable for the horizontal motion control of double-speed motor as actr most, especially is fit to the horizontal motion of hoisting crane; For example walking; The control of aspects such as revolution and luffing when two speed motors are done switchover operation, has been accomplished not have shake and has been switched; Can also be used in the no disturbance operation of similar double-speed motor of other industry and single-speed motor, be suitable for large range promotion use.This controlling schemes can overcome motor and start and gear shift in service, to the shake of fuselage, makes the more steady and safety of control process in the switching process that stops; The control core of this device is a micro controller system; There are 8 groups of controlled variable to be pre-stored in the micro controller system, can adapt to hang (hoisting crane) of different size, only select 1 group in 8 groups, be easy to use with three single-pole double throw (SPDT) micro-switchs.
Description of drawings
Fig. 1 is the integral structure block diagram under the running condition of the utility model;
Fig. 2 is the integral structure block diagram of the utility model;
Fig. 3 is the constructional drawing of the operational order Acquisition Circuit of the utility model;
Fig. 4 is the constructional drawing of the central control circuit of the utility model;
Fig. 5 is the constructional drawing of the power circuit of the utility model;
Fig. 6 is the constructional drawing of the controllable silicon drive circuit of the utility model;
Fig. 7 is the constructional drawing of the synchronous signal acquisition circuit of the utility model;
Fig. 8 is the constructional drawing of the motor commutation gear shift driving circuit of the utility model;
Fig. 9 is the constructional drawing of the parameter setting instrument of the utility model;
Figure 10 is the initialize routine diagram of circuit of the utility model main program inlet;
Figure 11 is that each cycle of the utility model is carried out interrupt routine diagram of circuit once;
Wherein, 1 is central control circuit, and 2 is power circuit; 3 is the operational order Acquisition Circuit, and 4 is controllable silicon drive circuit, and 5 are motor commutation gearshift driving circuit; 6 is the synchronous signal acquisition circuit, and 7 is micro controller system, and 8 are silicon control drive pulse generation circuit; 9 are the impulse hunting wave generation circuit, and 10 is parameter setting instrument.
The specific embodiment:Below in conjunction with accompanying drawing the utility model is done further explanation:
The system chart of the utility model crane horizontal motion controller under running condition is as shown in Figure 1.The utility model provides a kind of crane horizontal motion controller; Its composition frame chart is as shown in Figure 2, and the crane horizontal motion controller comprises central control circuit 1, power circuit 2, operational order Acquisition Circuit 3, controllable silicon drive circuit 4, motor commutation gear shift driving circuit 5, synchronous signal acquisition circuit 6 and parameter setting instrument 10; Said operational order Acquisition Circuit 3, controllable silicon drive circuit 4, motor commutation gear shift driving circuit 5, synchronous signal acquisition circuit 6 all are connected with central control circuit 1 with parameter setting instrument 10; Said power circuit 2 is connected with central control circuit 1, operational order Acquisition Circuit 3, controllable silicon drive circuit 4, motor commutation gear shift driving circuit 5, synchronous signal acquisition circuit 6.Said controllable silicon drive circuit 4 is six.
As shown in Figure 3; The order that device receives is from operational order Acquisition Circuit 3; Operational order Acquisition Circuit 3 comprises three identical circuit, and reception three way switch amount incoming signal-just change (ZZ), counter-rotating (FZ) and second gear signal (D2) is the effective order signal when connection exchanges 48 volts; By exchanging 48 volts is input, is logic level through circuit conversion; With first via signal is example, and last photoelectrical coupler (U31) the 1st pin (positive pole of input diode) is connected on the electrode (0V ~) of 48 volts of power supplys of external communication through port; The 2nd pin (negative pole of input diode) series resistance R31_1, R31, diode (D31) be anodal, be drawn out to terminal ZZ (just changeing the command signal input) from diode (D31) negative pole, connects when order is just being changeed and exchange 48 volts (another electrodes of 48 volts of power supplys of interchange); The contact place of R31_1, R31 connects the negative pole of capacitor C 31, and the positive pole of C31 is received photoelectrical coupler (U31) the 1st pin; The 3rd pin of photoelectrical coupler (U31) is received power supply ground end, and the 4th pin (photoelectric coupler output end) of photoelectrical coupler (U31) connects and draws on the resistance R 34 to the power supply VCC of (2), also receives on the pin (ZI) of micro controller system (7); This is the just commentaries on classics command signal (low level is effective) of giving micro controller system; When just changeing command signal, terminal ZZ inserts 48V ~ time; It exchanges 48V voltage with the 0V ~ formation of U31 first pin; When the ZZ end is negative half period, the light-emitting diode conducting of photoelectrical coupler U31, the conducting of U31 output triode; Signal ZI output active potential is given micro controller system, has accumulated certain voltage in this half cycle capacitor C 31; The charge discharge that when the ZZ end becomes positive half cycle, accumulates among the C31 is kept the conducting of U31 input diode, thereby guarantees the maintenance of ZI output signal; The second road signal structure is same as the first via, and its order input is inverted command (FZ), and what give another pin of micro controller system is the FI signal; The Third Road signal structure is also identical, and its order input is second gear order (D2), i.e. high-speed electric expreess locomotive action command, and what give another pin of micro controller system is the DI signal.
Diagnostic code 1: phase shortage, show come to label be TR, TS, the signal of TT port is not all detected by micro controller system 7, this shows that three-phase wherein has and does not insert, or plate inter-sync signal circuit has fault;
Diagnostic code 2: wiring board fault.
Diagnostic code 3: joystick is not at stop position when powering on.
Nonserviceable down, can not start, thereby reach the purpose of protection.
Fig. 5 is common power circuit; Voltage transformer is 380 volts/15 volts, and former limit is imported by R, S two mutually, and this power circuit is through the filtering of biphase rectification and the C21 of D21; Produce the High Level DC Voltage V+ in the circuit; Thereby, produce two kinds of power supply VCC (5V) and Vdd (3.3V) through two step voltage voltage stabilizings, export to different circuits respectively.
Fig. 6 is a controllable silicon drive circuit; Power supply V+ has formed the conducting loop of being controlled the first aerotron T31 by power supply V+ through first resistance R 33 and first capacitor C 31 through the base stage that first resistance R 33, first capacitor C 31 connect to the first aerotron T31 in the said controllable silicon drive circuit 4; ON time is decided by the time constant of first resistance R 33 and first capacitor C 31; And the collecting electrode of the second aerotron T30 connects the intersection point place to first resistance R 33 and first capacitor C 31; Last signal end Kx is connected to the base stage of the second aerotron T30 through second resistance R 31, and whether last signal end Kx controls the second aerotron T30 conducting, and the second aerotron T30 controls whether conducting of the first aerotron T31; Following signal end KXP connects the base stage to the 3rd aerotron T32 through the 3rd resistance R 32, and whether following signal end KxP controls the 3rd aerotron T32 conducting; The collecting electrode of the first aerotron T31 is connected the lower end, former limit that pulse transformer PT1 is directly inserted in the back with the collecting electrode of the 3rd aerotron T32; The common point Vz that the lower end on the former limit of pulse transformer PT1 connects behind the first diode D32 through all controllable silicon drive circuits simultaneously connects the negative pole to public stabilivolt Wz, and the positive pole of stabilivolt Wz connects to the upper end on the former limit of pulse transformer PT1 and power supply V+ simultaneously; In the first aerotron T31 and the 3rd aerotron T32 conduction period, the former limit of pulse transformer PT1 forms negative just down voltage, simultaneously, pay the limit just induce down on negative voltage; The first aerotron T31 and between the 3rd aerotron T32 off period the freewheel current among the pulse voltage transformer PT1 get back to upper end, former limit by lower end, former limit through the first diode D32 and stabilivolt Wz; Thereby formed and just gone up negative voltage under the former limit; Simultaneously, induce negative just down voltage on pair limit; The centre tapped mouth of paying the limit of pulse transformer PT1 connects to the silicon controlled negative electrode; The two ends of paying the limit of pulse transformer PT1 connect the positive pole of two diode D33, D34 respectively; The negative pole of two diode D33, D34 connects together; Connect to the silicon controlled control utmost point, thus no matter pulse transformer PT1 pay on the limit or any end down when being high potential, all can make this voltage output to the SCR control utmost point by paying one of two diode D33 of limit bonded assembly, D34 with pulse transformer PT1; Low-voltage end is a center tap of paying the limit, triggers the loop thereby form silicon controlled; The emitter-base diode inverse parallel of the said second diode D31 and the first aerotron T31; The effect of the second diode D31 is when the second aerotron T30 conducting, and the electric charge of accumulation is released through the second aerotron T30 and the second diode D31 in first capacitor C 31, and then guarantees that the circulation of entire circuit normally moves; 6 controllable silicon drive circuits drive 6 silicon controls, and the three phase mains phase shift that is used to apply on the motor triggers; Six controllable silicon drive circuits that are used for motor are corresponding one by one with six silicon control drive pulses generation circuit 8 of Fig. 4; Among Fig. 6 label be Kx port respectively in the presentation graphs 4 label be the port of K1, K2, K3, K4, K5 or K6; And label is the port port of K1P, K2P, K3P, K4P, K5P or K6P in the presentation graphs 4 respectively of KxP among Fig. 6.
Fig. 7 is the synchronous signal acquisition circuit, comprises the three-phase alternating current synchronous acquisition circuit in the said synchronous signal acquisition circuit (6); Said three-phase alternating current synchronous acquisition circuit comprises two photoelectrical couplers and two op amps; Said two photoelectrical couplers are respectively photoelectrical coupler (U41) and following photoelectrical coupler (U43); Two phase R in the three phase mains, T are respectively through two power resistor (R41; R43) it is anodal to receive the light-emitting diode of two photoelectrical couplers; In addition; Each light-emitting diode also one of reverse parallel connection guarantee the diode that counter-current also can pass through (D41, D43), the light-emitting diode negative pole of these two couplers is connected together on the third phase S that receives three phase mains; The mouth of said two photoelectrical couplers (U41, U43) is connected to pull-up resistor (R44 respectively; R48) to power supply VCC; Also receive the in-phase input end of two op amps simultaneously, the inverting input of two op amps connects set potential (Vdd), and the mouth of two op amps (TR, TT) is respectively through each self-resistance (R46; R48) receive its in-phase input end, and insert central control circuit (1); TR; TT is represented respectively be three phase mains R+S-intersection point (R make progress away mutually S walk downwards mutually) and T+S-intersection point (T make progress away mutually S walk downwards mutually) constantly; According to the moment of these two intersection points generations; Can calculate the moment at zero point of every phase in the three-phase voltage source respectively, it is to trigger silicon controlled with reference to moment point.
Fig. 8 is existing known motor commutation gear shift driving circuit, label for the positive rotaring signal of _ ZX and label for the reverse signal of _ FX and _ 2DD second gear motor rotation drive signal exported by micro controller system among Fig. 47, low level is effective; When forward moved, _ ZX was an active potential, and label is that the aerotron of T51 ends; Label is the aerotron conducting of T52, and making just changes relay K 51 actions, terminal OZ and 48V ~ connection; So just connected the positive contactor coil of outside, cooperated silicon controlled to trigger, motor is just changeed.It is identical therewith with the principle of second gear motor rotation driving circuit to reverse.
The parameter setting instrument that Fig. 9 is (being commonly called as manual operator), volume is little, can be held in the hand.Parameter setting instrument is made up of micro controller system U91, three LED charactron DS91, DS92, DS93, two button S91, S92 and serial communication interface J91 and subsidiary component thereof; Each LED charactron is all drawn seven data lines from seven cooresponding section, and corresponding section the data line back that links to each other is connected into micro controller system U91 through resistance; It is C8051F350 that micro controller system U91 selects model for use; Connect base stage respectively through three lines simultaneously to three aerotron T91, T92, T93; The collecting electrode of while three aerotron T91, T92, T93 connects together; Connect the crus secunda to serial communication interface J91, the crus secunda of said serial communication interface J91 is a power end; The emitter of three aerotron T91, T92, T93 connects the common anodic control end to cooresponding LED charactron respectively; Serial communication interface J91 then accesses to the micro controller system 7 in the central control circuit 1, and the interface J91 shown in Fig. 9 is the interface J2 that be linked into the central control circuit 1 shown in Fig. 4; An end of each button all connects to the pin of micro controller system U91 and connects the crus secunda to serial communication interface J91 through a resistance respectively simultaneously among two button S91, the S92; Then the company of being connected together is to first pin of serial communication interface J91 for the other end of two button S91, S92, and first pin of said serial communication interface J91 is to link to each other with holding of central control circuit 1 commonly; As button S91, when S92 is closed, this earth potential just is communicated with the pin of micro controller system U91; When button S91, S92 break off, just formed the power supply of serial communication interface J91 the 2nd pin is given the pin high potential signal of micro controller system U91 through resistance R 91 or resistance R 92 process; The power end VDD of micro controller system U91 and ground end GND connect the crus secunda and first pin to serial communication interface J91 respectively; Micro controller system U91 connects tripod and the 4th pin to serial communication interface J91 respectively through bipod 29,30 on the other hand, forms the data line that carries out the digital communication of serial with central control circuit 1.
There are three charactrons and two buttons in parameter setting instrument 10 fronts.Be the label among Fig. 4 the socket of J2 with label among Fig. 9 be that the joint of J91 docks, promptly start working.The high position of three charactrons is a function code, representes with letter, comprises memory function, totally 9 function codes, and the double figures sign indicating number of each function code back is the concrete numerical value of this function.
Two button S91, S92 of parameter setting instrument are respectively shift key and add 1 key.Click one of the gt that shift key edited, presented the flicker shape by edit bit.Add 1 key and revise the position of being edited.If the position of being edited is a function code, change a function code, two concrete numerical value that show this function code immediately of back by adding 1 key.At this moment can revise its concrete data by shift key again by adding 1 key.
8 parameters, they are: the electric motor starting initial voltage; One grade of (low speed) soft starter for motor time (beginning to the time that applies full voltage) by initial voltage; One grade of soft standing time of (low speed) motor (getting back to the zero time more immediately to initial voltage) by full voltage; Second gear (at a high speed) the soft starter for motor time; The soft standing time of second gear (at a high speed) motor; The percentum of the voltage that the second gear motor brings into operation when being transformed into the operation of second gear motor by one grade of motor operation; The percentum that the second gear electric moter voltage descends when being transformed into one grade of motor operation by the operation of second gear motor; The delay time that parking begins to brake;
Function code is specially:
A: soft start initial voltage, the numerical value of two bit codes of back take advantage of 10 to be exactly the soft start initial voltage;
B: one grade of soft starter for motor time, the numerical value of two bit codes of back is second numerical value, decimal of an integer;
C: one grade of soft standing time of motor, the numerical value of two bit codes of back are second numerical value, decimal of an integer;
D: the percentum of the voltage that the second gear motor brings into operation when being transformed into the operation of second gear motor by one grade of motor operation; Because the second gear motor is a high-speed electric expreess locomotive, so the steady switching that when one grade of slowspeed machine switches to the second gear high-speed electric expreess locomotive, must let second gear motor brownout operation just can maintain speed;
E: the percentum that the second gear electric moter voltage descends when being transformed into one grade of motor operation by the operation of second gear motor, because the second gear motor is a high-speed electric expreess locomotive, so switch to the steady switching that one grade of slowspeed machine operation just can maintain speed again after must making the step-down of second gear motor;
J: second gear (at a high speed) the soft starter for motor time, when the second gear motor quickens pressurization, receive this restriction on the parameters;
L: the soft standing time of second gear (at a high speed) motor receives this restriction on the parameters when the step-down of second gear motor reduction of speed;
N: the brake lag time is to stop to the time that conversing contactor discharges when motor, also should be the time that begins to go up drg;
The integer part scope that it should be noted that the above-mentioned time is 0-15 second, and 10-15 seconds method for expressing is respectively A-F.Concrete expression is:
A:10 second, b:11 second, C:12 second, d:13 second, E:14 second, F:15 second.
For example, three charactrons show " bC5 ", and his implication is 12.5 seconds one grade of soft starter for motor time.
More than be 8 parameters relevant with motor operation; Also have an operating parameter following:
F: memory function sign indicating number;
Wherein the F function is the memory function sign indicating number, if after being revised as for 88 or 99,1 seconds to the two bits of F back; Deposit all 8 parameters of editor in the micro controller system in immediately; If double figures changes 77 into, then abandon all modifications, the default parameters when recovery was dispatched from the factory originally in the micro controller system.
As shown in Figure 1; The utility model when in use; Motor commutation gear shift driving circuit 5 is connected to existing ZC and inversed F C contactless switch and second gear 2DC and one grade of 1D contactless switch and the AC48V voltage transformer of just changeing, and controllable silicon drive circuit 4 is connected to Group of Silicon Controlled Rectifier, and being connected to connect according to known method of attachment shown in Figure 1 and getting final product of the utility model and other existing installations; At this moment, this utility model just can normally have been used; Control for common single-speed motor can not connect the second gear action command, and promptly the D2 terminal among Fig. 3 is floating empty, and so, parameter has only the A in the above-mentioned parameter, b, and C, four parameters of L are effective, the 2DC among Fig. 1,1D contactless switch and 2 grades of motors omit;
Get final product through handling with operational order Acquisition Circuit 3 bonded assembly joysticks; If desired in the mechanically use of different size, then just can through with central control circuit 1 in three single pole double throw switch adjustment of micro controller system 7 bonded assemblys get final product.
The running software of the utility model crane horizontal motion controller mainly comprises following a few part in single machine unit:
1. the initialize routine of main program inlet: diagram of circuit is shown in figure 10, mainly carries out the function initialization of micro controller system, and the function of each pin is set, and interrupt function is set, and counting machine, timer parameter etc. are set.8 parameters moving according to motor in addition; Like the soft starter for motor time; Calculate the stepped voltage value of each cycle (20 milliseconds) motor, according between the soft stopping time, magnitude of voltage falls in the step that calculates motor; And the actual count value of micro controller system internal counter in the actual samples cycle; Calculate each magnitude of voltage (0 ~ 380 volt) cooresponding count value of trigger angle etc. then, calculate the input phase sequence of three-phase alternating current point R, T, S, get at last in the cyclic program that shows led status according to the sequential of synchronizing signal TR, TT;
2. each cycle is carried out interrupt routine once: program flow diagram is shown in figure 11; The situation of input command contact; Thereby confirm the setting value of motor service direction (forward or backwards) or the setting value out of service of motor, confirm the actual value of electric moter voltage according to the actual value of setting value and current motor operation conditions.For example be to fall or shift gears (promptly switching to another motor) in stepping, step, should provide the actual value that the electric moter voltage after the gearshift moves like gearshift by a motor;
3. trigger angle calculation procedure: triggering inlet is the falling edge of TR synchronizing signal; Calculate the trigger sequence (positive phase sequence has two kinds of different trigger sequences with negative-phase sequence) that this cycle six phase triggers according to it; According to this trigger sequence timetable, start the PCA counting machine immediately and accomplish later six phase triggering then.
The flowchart symbol explanation
Setv: the setting value of electric moter voltage (0 ~ 380 volt),
Vout: electric moter voltage instantaneous value (0 ~ 380 volt),
Fsd: the voltage transitions coefficient (0 ~ 100%) that is switched to 2 grades of motors by 1 grade of motor is the value of parameter D,
Fjd: the voltage transitions coefficient (0 ~ 100%) that is switched to 1 grade of motor by 2 grades of motors is the value of parameter E,
The progressive value of SoftUpStep_1d:1 shelves motor each cycle when voltage rises is decided by B parameter,
The progressive value of SoftUpStep_2d:2 shelves motor each cycle when voltage rises, J decides by parameter,
SoftD
nStep_1d:1 shelves motor is when voltage descends, and the drop-out value of each cycle is decided by parameters C,
SoftD
nStep_2d:2 shelves motor is when voltage descends, and the drop-out value of each cycle is decided by parameter L,
Gzcode: diagnostic code is nonzero value when fault.
The utility model, simple for structure reasonable, practical, be beneficial on a large scale and apply.
Claims (6)
1. crane horizontal motion controller; Mainly comprise central control circuit, power circuit, operational order Acquisition Circuit, controllable silicon drive circuit, motor commutation gear shift driving circuit, synchronous signal acquisition circuit, parameter setting instrument and Liquid Crystal Display (LCD); Central control circuit comprises that micro controller system, six silicon control drive pulses produce circuit and an impulse hunting wave generation circuit; Controllable silicon drive circuit is six, and each controllable silicon drive circuit comprises that a silicon control drive pulse produces circuit; Operational order Acquisition Circuit, controllable silicon drive circuit, motor commutation gear shift driving circuit, synchronous signal acquisition circuit all are connected with central control circuit with parameter setting instrument;
Power circuit is connected with the synchronous signal acquisition circuit with central control circuit, operational order Acquisition Circuit, controllable silicon drive circuit, motor commutation gear shift driving circuit; Thereby power circuit produces two kinds of power supply VCC and Vdd through two step voltage voltage stabilizings; Be respectively 5V and 3.3V, export to different circuits respectively;
The operational order Acquisition Circuit receives three way switch amount incoming signal, and circuit output end inserts central control circuit, and central control circuit is input to micro controller system with the output signal in the operational order Acquisition Circuit; The synchronous signal acquisition circuit comprises two photoelectrical couplers and two op amps; The mouth of two photoelectrical couplers is received the in-phase input end of two op amps; The mouth of op amp is received in-phase input end through each self-resistance respectively, and inserts central control circuit; One of them input end that the silicon control drive pulse produces circuit is connected with the pin of micro controller system respectively; Another input end is connected to the mouth of impulse hunting wave generation circuit, and the mouth that the silicon control drive pulse produces circuit is connected to the input end on the controllable silicon drive circuit; Be connected with three single pole double throw switch on the micro controller system, promptly the common port of each single pole double throw switch is connected to a pin of micro controller system respectively; Row, counter-rotating operation, second gear motor movement command signal are just being transported in three pin generations by micro controller system; Parameter setting instrument is made up of micro controller system, three LED charactrons, two buttons and serial communication interface and subsidiary component thereof; Each LED charactron is all drawn seven data lines from seven cooresponding section, and corresponding section the data line back that links to each other is connected into micro controller system through resistance.
2. crane horizontal motion controller according to claim 1; It is characterized in that described operational order Acquisition Circuit comprises three identical circuit; Reception three way switch amount incoming signal-just change, counter-rotating and second gear signal are the effective order signal when connecting 48V ~ time; By exchanging 48 volts is input, is logic level through circuit conversion;
Last photoelectrical coupler (U31) the 1st pin of said operational order Acquisition Circuit is the positive pole of input diode, is connected to through port on the electrode (0V ~) of 48 volts of power supplys of external communication; The 2nd pin is the negative pole of input diode, and series resistance R31_1, R31, diode (D31) be anodal, be drawn out to terminal ZZ from diode (D31) negative pole is promptly just changeing the command signal input, connects another electrode that exchanges 48 volts of 48 volts of power supplys when order is just being changeed; The contact place of R31_1, R31 connects the negative pole of capacitor C 31, and the positive pole of C31 is received photoelectrical coupler (U31) the 1st pin; The 3rd pin of photoelectrical coupler (U31) is received the Power Ground end, and the 4th pin of photoelectrical coupler (U31) is that photoelectric coupler output end connects and draws resistance R 34 to the power supply VCC of power circuit, also receives on the pin (ZI) of micro controller system; This is that the just commentaries on classics command signal of giving micro controller system is that low level is effective;
Last photoelectrical coupler (U32) the 1st pin of said operational order Acquisition Circuit is the positive pole of input diode, is connected to through port on the electrode (0V ~) of 48 volts of power supplys of external communication; The 2nd pin is the negative pole of input diode, and series resistance R32_1, R32, diode (D32) be anodal, be drawn out to terminal FZ from diode (D32) negative pole is the input of inverted command signal, connects another electrode that exchanges 48 volts of 48 volts of power supplys during the order counter-rotating; The contact place of R32_1, R32 connects the negative pole of capacitor C 32, and the positive pole of C32 is received photoelectrical coupler (U32) the 1st pin; The 3rd pin of photoelectrical coupler (U32) is received the Power Ground end; The 4th pin of photoelectrical coupler (U32) is that photoelectric coupler output end connects and draws resistance R 34 to the power supply VCC of power circuit; Also receive on the pin (FI) of micro controller system, this signal is that low level is effective for the inverted command signal of input micro controller system;
Last photoelectrical coupler (U33) the 1st pin of said operational order Acquisition Circuit is the positive pole of input diode, is connected to through port on the electrode (0V ~) of 48 volts of power supplys of external communication; The 2nd pin is the negative pole of input diode, and series resistance R33_1, R33, diode (D33) be anodal, be drawn out to terminal D2 from diode (D33) negative pole is the input of second gear command signal, orders and connects another electrode that exchanges 48 volts of 48 volts of power supplys when effective; The contact place of R33_1, R33 connects the negative pole of capacitor C 33, and the positive pole of C33 is received photoelectrical coupler (U33) the 1st pin; The 3rd pin of photoelectrical coupler (U33) is received the Power Ground end, and the 4th pin of photoelectrical coupler (U33) is that photoelectric coupler output end connects and draws resistance R 34 to the power supply VCC of power circuit, also receives on the pin (DI) of micro controller system; This is that 2 grades of command signals of giving micro controller system are that low level is effective.
3. crane horizontal motion controller according to claim 1 is characterized in that described synchronous signal acquisition circuit comprises the three-phase alternating current synchronous acquisition circuit;
The three-phase alternating current synchronous acquisition circuit comprises two photoelectrical couplers and two op amps;
Two photoelectrical couplers are respectively photoelectrical coupler (U41) and following photoelectrical coupler (U43); Two phase R in the said three phase mains, T are respectively through two power resistor (R41; R43) it is anodal to receive the light-emitting diode of two photoelectrical couplers; Also diode of reverse parallel connection is to guarantee that counter-current also can pass through for each light-emitting diode, and the light-emitting diode negative pole of two couplers is connected together on the third phase S that receives three phase mains;
The mouth of two photoelectrical couplers (U41, U43) is connected to pull-up resistor (R44 respectively; R48) to power supply VCC; Also receive the in-phase input end of two op amps simultaneously, the inverting input of two op amps connects set potential (Vdd), and the mouth of two op amps (TR, TT) is respectively through each self-resistance (R46; R49) receive its in-phase input end, and insert central control circuit.
4. crane horizontal motion controller according to claim 1; It is characterized in that power supply connects the base stage to first aerotron through first resistance, first electric capacity in the described controllable silicon drive circuit, formed the conducting loop of controlling first aerotron by power supply through first resistance and first electric capacity; And the collecting electrode of second aerotron connects the intersection point place to first resistance and first electric capacity; Last signal end is connected to the base stage of second aerotron through second resistance, forms the control second aerotron conducting whether loop, and then also forms second aerotron and control the whether loop of conducting of first aerotron; Following signal end connects the base stage to the 3rd aerotron through the 3rd resistance, forms control the 3rd aerotron conducting whether circuit; The collecting electrode of first aerotron is connected the lower end, former limit that pulse transformer is directly inserted in the back with the collecting electrode of the 3rd aerotron; The common point that the lower end on the former limit of pulse transformer connects behind first diode through all controllable silicon drive circuits simultaneously connects the negative pole to public stabilivolt, and the positive pole of stabilivolt connects to the upper end on the former limit of pulse transformer and power supply simultaneously; The centre tapped mouth of paying the limit of pulse transformer connects to the silicon controlled negative electrode, and the two ends of paying the limit of pulse transformer connect the positive pole of two diodes respectively, and the negative pole of two diodes connects together, and connects to the silicon controlled control utmost point; Said second diode cathode inserts the base stage of first aerotron and the intersection point of first electric capacity, and the positive pole of second diode inserts the emitter of second aerotron.
5. crane horizontal motion controller according to claim 1 is characterized in that described parameter setting instrument is made up of micro controller system, three LED charactrons, two buttons and serial communication interface and subsidiary component thereof; Each LED charactron is all drawn seven data lines from seven cooresponding section, and corresponding section the data line back that links to each other is connected into micro controller system through resistance; Micro controller system connects the base stage to three aerotrons respectively through three lines simultaneously, and the collecting electrode of three aerotrons connects together simultaneously, connects the crus secunda to serial communication interface, and the crus secunda of said serial communication interface is a power end; The emitter of three aerotrons connects the common anodic control end to cooresponding LED charactron respectively; Serial communication interface then accesses to central control circuit; An end of each button all connects to a pin of micro controller system and connects the crus secunda to serial communication interface through a resistance respectively simultaneously in two buttons; Then the company of being connected together is to first pin of serial communication interface for the other end of two buttons, and first pin of said serial communication interface links to each other with holding of central control circuit commonly; The power end of micro controller system connects the crus secunda and first pin to serial communication interface respectively with the ground end; Micro controller system connects tripod and the 4th pin to serial communication interface respectively through bipod on the other hand, forms the data line that carries out the digital communication of serial with central control circuit.
6. crane horizontal motion controller according to claim 1; It is characterized in that described parameter setting instrument; Can revise any one group of parameter, each group parameter all comprises 8 parameters: electric motor starting initial voltage, one grade of motor are that the slowspeed machine soft-start time promptly begins to the time that applies full voltage, one grade of motor by initial voltage is that the soft standing time of slowspeed machine is promptly by the full voltage delay time that to get back to zero time, second gear motor more immediately to initial voltage be the percentum of the voltage that high-speed electric expreess locomotive soft-start time, second gear motor are the soft standing time of high-speed electric expreess locomotive, the second gear motor brings into operation when being transformed into the operation of second gear motor by one grade of motor operation, the percentum of second gear electric moter voltage decline when being transformed into one grade of motor operation by the operation of second gear motor and parking begin to brake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201641349U CN202164051U (en) | 2011-05-20 | 2011-05-20 | Horizontal movement controller of crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011201641349U CN202164051U (en) | 2011-05-20 | 2011-05-20 | Horizontal movement controller of crane |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103338004A (en) * | 2013-07-09 | 2013-10-02 | 四川建设机械（集团）股份有限公司 | Speed adjustment control system |
| CN103365228A (en) * | 2013-07-05 | 2013-10-23 | 华南理工大学 | Time-sharing control system with motion controller |
| CN107601284A (en) * | 2017-10-19 | 2018-01-19 | 江苏中建达丰机械工程有限公司 | Rotation control unit of tower crane |
| CN111665400A (en) * | 2019-03-07 | 2020-09-15 | 丹佛斯（天津）有限公司 | Phase loss detection device, compressor comprising same and phase loss detection method |
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2011
- 2011-05-20 CN CN2011201641349U patent/CN202164051U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103365228A (en) * | 2013-07-05 | 2013-10-23 | 华南理工大学 | Time-sharing control system with motion controller |
| CN103338004A (en) * | 2013-07-09 | 2013-10-02 | 四川建设机械（集团）股份有限公司 | Speed adjustment control system |
| CN107601284A (en) * | 2017-10-19 | 2018-01-19 | 江苏中建达丰机械工程有限公司 | Rotation control unit of tower crane |
| CN107601284B (en) * | 2017-10-19 | 2024-05-14 | 江苏众建达丰机械工程有限公司 | Rotary control unit of tower crane |
| CN111665400A (en) * | 2019-03-07 | 2020-09-15 | 丹佛斯（天津）有限公司 | Phase loss detection device, compressor comprising same and phase loss detection method |
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Granted publication date: 20120314 Termination date: 20130520 |