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Open-loop optimized anti-sway control method for cranes

A control method and crane technology, applied in cranes and other directions, can solve problems affecting crane operation safety, equipment damage, property loss, etc., and achieve the effects of improving adaptability and engineering applicability, improving automation, and improving stability.

Inactive Publication Date: 2019-08-27
WUHAN UNIV OF TECH
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Problems solved by technology

Excessive anti-sway distance will seriously affect the operation safety of the crane, especially during the crane stop process. Excessive anti-sway distance may cause equipment damage and property loss

Method used

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  • Open-loop optimized anti-sway control method for cranes
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  • Open-loop optimized anti-sway control method for cranes

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Embodiment Construction

[0023] 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.

[0024] An open-loop optimized anti-sway control method for a crane, comprising the following steps:

[0025] S1, such as figure 2 , Figure 5 As shown, set the initial speed of the trolley, the initial yaw angle and angular velocity of the load to 0, and the final running speed of the trolley v 1max =1m / s, and the final yaw angle and angular velocity of the load are 0, at the trolley speed v 1 satisfy 01 Under the condition of ≤1m / s, obtain the optimal speed running curve when the running distance of the trolley is the smallest, the acceleration or deceleration time is the shortest, and the loa...

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Abstract

The invention discloses a crane open loop optimal anti-rocking control method. Based on the crane kinetic analysis, crane operation state parameters are used as boundary constraint conditions to realize anti-rocking control of shortest crane operation distance, shortest acceleration or deceleration operation time and optimal operation trajectory; and a mathematical model among the crane operationspeed, the operation time and the lifting rope length is built synchronously based on the numerical value analysis and the computer simulation technology. The open loop optimal control method is builtbased on optimal operation distance and acceleration or deceleration time; and the control method has the characteristics of short anti-rocking distance, high response speed and the like, can effectively inhibit the load deflection, improves the crane operation safety and operation stability, is simple in implementation, easy to realize engineering application and high in control precision, and facilitates the crane intelligent and automatic transportation.

Description

technical field [0001] The invention belongs to the technical field of crane intelligent control, and in particular relates to a crane open-loop optimized anti-sway control method. Background technique [0002] The crane system is composed of a cart operating mechanism, a trolley operating mechanism and a lifting operating mechanism. It has a simple structure and can realize the transportation of goods very conveniently. Therefore, it is widely used in metallurgical manufacturing, steel production, processing workshops, biopharmaceuticals, garbage disposal and other places. range of applications. However, the crane is an under-damped flexible control system. During the operation of the crane, if the speed of the crane changes, the load will inevitably swing, which will seriously affect the safety of the crane. At the same time, after the running mechanism stops running, the load will swing for a long time, which seriously reduces the working efficiency of the crane. Crane ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C23/48
Inventor 汪小凯吴庆祥华林祝红亮徐强危刚
Owner WUHAN UNIV OF TECH
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