A Review of the Current Status of Anti-sway Technology for Horizontal Operation of Ultra-high Stacker Cranes
This article elaborates on different technical solutions to the overall swaying of the upper part of the frame during the start and stop stages of ultra-high stacker crane horizontal operation,and explains the two major directions to solve the problem from the aspects of mechanical structure and electrical control.The anti-sway meas-ures of the mechanical structure include:optimizing the structural form of the frame to improve the overall rigidity;setting a driving device on the top of the frame to make the equipment start and stop uniformly up and down,and forcing braking through the top driving device.In terms of electrical control,anti-sway measures include:using S-shaped speed control curve to reduce the impact and sway of the equipment due to sudden acceleration during the acceleration and deceleration stage;adopting double closed-loop control for the horizontal drive to improve one-time stop positioning accuracy and avoid secondary movement impact and sway;using the anti-sway control algorithm op-timizes the speed and acceleration control curves and eliminates top sway by eliminating the inherent oscillation fre-quency of the equipment.
ultra-high stackeranti-swayspeed controlnatural oscillation frequency
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