Crane open loop optimal anti-rocking control method
A control method and crane technology, applied in the direction of cranes, etc., can solve the problems of property loss, equipment damage, affecting the safety of crane operation, etc., and achieve the effects of improving automation, fast response speed, improving adaptability and engineering applicability
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[0024] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0025] An open-loop optimized anti-sway control method for a crane, comprising the following steps:
[0026] S1, such as figure 2 , Figure 5 As shown, set the final running speed v of the car 1max =1m / s, obtain the speed running curve of the trolley under the rope length of k meters, k is a different natural number;
[0027] S2. Fit all the speed running curves obtained in step S1 to obtain the speed fitting equation v 1 =(P 0 t+b 0 ),P 0 is the initial determinant coefficient matrix, b 0 is the initial determinant constant term, 0≤t≤t f , t f Optimum acceleration running time for the t...
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