FIU UPC Cooperation Agreement Projects developed by UPC students

Course: Electrical Systems Level: Fourth semester

Project: Design and construction of a rotating crane with contactors control.

Objectives:
Integrate mechanical and electrical components to construct a rotating crane to move a load in a tree-dimensional motion. The motion will be logically controlled using electrical power switches, contactors and relays. Teamwork: 4 students Design considerations The crane should be composed by a column-base fixed to ground, a rotating arm, a DC motor to rotate the crane, a DC motor to raise and descend the load and a DC motor to move the load in the direction along the arm. The arm should rotate 360 clockwise and counterclockwise. Pulleys will be used to transform rotational motion in to longitudinal motion. The maximum weight load is 50 Kg. Use a counterweight to balance the load. The three motors could be activated simultaneously.

Project development and analysis Figure 1 shows the complete view of the rotating crane. The mechanical and electrical designs, as well as motors selection were completed to satisfy design requirements and specifications. The following DC motors were selected: Motor 1: 12 V Motor 2: 12 V Motor 3: 12 V 150 W 50 W 100 W

To control the direction of rotation (clockwise or counterclockwise) of each motor, it was designed an electrical circuit with switches, primary and secondary contactors, and relays, all of them selected to work at the current levels of each motor.

Rotating arm

Motor 2: connected to a pulley for longitudinal motion along the rotating arm.

Motor 1: fixed to column, it is used for arm rotation.

Motor 3: connected to a pulley for rising and descend ing the load

Crane control equipment

Load

Figure 1. Complete view of rotating crane.

Figure 2 shows the basic electrical circuit to fix the direction of rotation of the DC motor.

Figure 2. Electrical circuit for rotation inversion of DC motor.

Figure 3 shows the complete circuit to turn ON or OFF each motor as well as to fix its direction of rotation.

Figure 3: Complete electrical circuit with contactors for crane motion control.

The meaning of symbology in Fig 3 is: S1: KM1: KM2: KM3: KM4: KM5: KM6: KM7: Switch Condition for starting operation. Circuit for clockwise rotation of crane, motor 1. Circuit for counterclockwise rotation of crane, motor 1. Circuit for clockwise rotation of motor 2. Circuit for counterclockwise rotation of motor 2. Circuit for load raising, motor 3. Circuit for load descend ing, motor 3.

Test and Results The electrical power circuits for controlling each motor were tested for clockwise and counterclockwise rotation. Loads up to 50Kg were used to verify the raising and descending capabilities of the crane. For loads less than 40 Kg, the raising and descending motion were smooth. However, for loads over 40 Kg, the ascending was slow and the descending presented some vibrations around the arm. The obtained results verified the effectiveness of the mechanical design as well as the electrical power circuit.

Conclusions It was a great challenge to construct a controlled crane starting form scratch. The geometry and materials of the crane were selected to design a robust and stable crane with smooth and stable motion. The teamwork was composed by four students who formed subgroups taking charge of the mechanical design and construction, as well as the selection of DC motors and electrical design. The symbols and schematic diagrams of electrical power circuits based on switches and contactors were correctly used.