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A method for realizing micro-swing control of unmanned crane

A technology of cranes and carts, which is applied in the field of micro-swing control of unmanned cranes, and can solve problems such as the inability to realize precise stacking of steel coils

Active Publication Date: 2018-09-21
WEIER AUTOMATION CO LTD TANGSHAN IRON & STEELGRP
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  • Claims
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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

Method used

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  • A method for realizing micro-swing control of unmanned crane
  • A method for realizing micro-swing control of unmanned crane
  • A method for realizing micro-swing control of unmanned crane

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Embodiment Construction

[0041] Below in conjunction with accompanying drawing, the present invention will be further described through embodiment.

[0042] A method for realizing the micro-swing control of an unmanned crane, comprising the following steps:

[0043] A: Establish the coordinate system of the crane operation, and establish the coordinate system of the swing angle of the crane;

[0044] B. By decomposing the coordinate system of the crane movement and the coordinate system of the swing angle of the crane, find out the relationship between the speed, acceleration, running direction and swing angle direction of the crane, and analyze and analyze the projection of the swing angle in different quadrants Swing angle detection realizes the proportional increase and decrease of the acceleration of the crane and the trolley, completes the swing angle control of the crane and the trolley, and turns the complicated swing angle control of the crane into a simple speed control of the crane.

[0045...

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Abstract

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. The technical scheme is as follows: establish a coordinate system for the operation of the crane, and establish a coordinate system for the swing angle of the crane; by decomposing the coordinate system for the operation of the crane, and decomposing the coordinate system for the swing angle of the crane, find out the speed, acceleration, and running direction of the crane. The relationship with the direction of the swing angle, through the projection analysis of the swing angle in different quadrants and the detection of the swing angle, the acceleration ratio of the cart and the cart can be increased or decreased, and the swing angle control of the crane and the crane can be completed. Turn complex crane swing angle control into simple crane speed control. The invention effectively solves the problem of the micro-swing control of the unmanned crane, the control precision can reach 0.5°, and provides a guarantee for the safe and stable operation of the unmanned crane system.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C13/06
CPCB66C13/06
Inventor 李志亮周志栋谢再兴单静波卢武阳李颖斌李二伟侯建明孙金杰
Owner WEIER AUTOMATION CO LTD TANGSHAN IRON & STEELGRP
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