| 摘要 |
A device for limiting swaying the load suspended to the crane crab contains an electric drive of crab, a weight sensor of load, a crab speed regulator and dc power supply. The device is equipped with a sensor of rope length, which is connected to the first input of generation unit of acceleration time of crab, with possibility of entering to its second input of signal from generation unit of nominal speed of crab, a timer connected to the generation unit of load speed and to three differentiators. The generation unit of nominal speed of the crab through two differentiators and outside them is connected to two inputs of the generation unit of the speed of crab, which third input is connected with the sensor of rope length. The output of the generation unit of the speed of crab is connected to the generation unit of artificial mechanical characteristic of the electric drive of crab, and also through the third differentiator - with the generation unit of the moment of electric drive of crab. Furthermore, to the inputs of this unit the dc power supply, weight sensor of load and output of the first differentiator are connected. The output of the generation unit of the moment of electric drive is connected to the third input of the generation unit of artificial mechanical characteristic of the electric drive of crab, the output of the latter is connected with control input of the speed regulator of crab with control of the angular speed of the electric drive of crab and moment on its shaft. |
