Method for achieving unmanned crown block micro-swing control

Abstract

The invention relates to a method for achieving unmanned crown block micro-swing control, is used for an unmanned crown block system in the metallurgical industry and belongs to the technical field of automatic metallurgical control. According to the technical scheme, the method comprises the steps that a crown block operation coordinate system is established, and a crown block swing angle coordinate system is established; the relationship among the crown block speed, the accelerated speed, the operation direction and the swing angle direction is found out through decomposition of the crown block operation coordinate system and decomposition of the crown block swing angle coordinate system, acceleration ratio increase and decrease of a large crown block and a small crown block are achieved through projection analysis of the swing angle in different quadrants and swing-angle angle detection, large crown block swing angle control and small crown block swing angle control are completed, and complex crown block swing angle control is converted into simple crown block speed control. By means of the method, the problem of unmanned crown block micro-swing control is effectively solved, the control precision can reach 0.5 degree, and the safe and stable operation of the unmanned crown block system is guaranteed.

Description

technical field [0001] The invention relates to a method for realizing micro-swing control of an unmanned crane, which is used in an unmanned crane system in the metallurgical industry and belongs to the technical field of metallurgical automatic control. Background technique [0002] The unmanned crane adopts advanced crane control technology, which puts forward high requirements on the operating parameters of each component of the crane. The swing angle of the clamp is an important factor affecting the running stability and work efficiency of the unmanned crane. Therefore, the control of the swing angle of the clamp of the unmanned crane is particularly important. For example: in the process of dynamic take-up and unwinding, it is generally required that the swing angle of the clamp can be controlled within 0.5 degrees, otherwise it will not be possible to achieve precise stacking of steel coils in the warehouse. The main hook swing angle of the crane is caused by the fle...

AI Technical Summary

Problems solved by technology

For example: in the process of dynamic take-up and unwinding, it is generally required that the swing angle of the clamp can be controlled within 0.5 degrees, otherwise it will not be possible to achieve precise stacking of steel coils in the warehouse

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