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Impulse input shaping crane anti-swing method

A pulse input, crane technology, applied in the direction of transportation and packaging, load hanging components, etc., can solve problems such as lifting swings, cargo not arriving in time, affecting crane loading and unloading efficiency, etc.

Active Publication Date: 2018-12-07
SHANGHAI MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

During the process of transporting goods by the crane, the hoisting weight will sway, so that the goods cannot reach the designated position in time, which directly affects the loading and unloading efficiency of the crane

Method used

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  • Impulse input shaping crane anti-swing method
  • Impulse input shaping crane anti-swing method
  • Impulse input shaping crane anti-swing method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0062] The trolley running horizontally in the lifting equipment, the rope connecting the load and the hoisting weight are regarded as a moving single pendulum system, such as figure 1 shown.

[0063] The following assumptions are made for the above model:

[0064] Assumption 1: The trolley and the load are regarded as particles with a certain mass, and the crane does not produce relative motion when it is stationary.

[0065] Assumption 2: The rope has negligible mass and is not stretchable in length.

[0066] Assumption 3: The influence of wind force and air resistance on the load is not considered.

[0067] According to Newton's laws of motion, the mathematical model of the system is:

[0068]

[0069] in k is the amplitude when the pendulum angle is finally stable, ω n is the oscillation frequency of the system, and ξ is the damping ratio.

[0070] The impulse response of the system is:

[0071]

[0072] By giving impulse responses of different amplitudes at ...

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Abstract

The invention relates to an impulse input shaping crane anti-swing method suitable for the situation of any number of impulse acceleration inputs. At different moments, impulse responses of differentamplitudes are superposed, and the swing angle can return to zero within a certain time. The method is an open-loop control method and is simple in operation, easy to implement and suitable for adopting any number of impulses as inputs, and in a damped two-stage crane system, anti-swing control of a crane is achieved. In the method, each impulse input method can effectively control swing generatedby loads, and the swing angle returns to zero. The larger the number of impulse inputs is, the longer the zero return time of the swing angle generated by the loads is, the smaller the maximum angleof the swing angle during swing is, and a user can achieve selection according to engineering needs.

Description

technical field [0001] The invention relates to a technical method for anti-sway control of port cranes, in particular to a crane anti-sway method based on the input shaping method under pulse acceleration input Background technique [0002] With the continuous construction of automated ports and the rapid development of the shipping industry, the requirements for the loading and unloading efficiency of cranes are also getting higher and higher. During the process of transporting goods by the crane, the hoisting weight will sway, so that the goods cannot reach the designated position in time, which directly affects the loading and unloading efficiency of the crane. Therefore, in order to improve the transportation efficiency and ensure the safety of wharf operations, automatic anti-sway control of the crane is very necessary. Solving the anti-swing problem of hoisting is of positive significance to the development of logistics and transportation industry. [0003] Yu Chunl...

Claims

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Application Information

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IPC IPC(8): B66C13/06
CPCB66C13/063
Inventor 杜芃牛王强陈超
Owner SHANGHAI MARITIME UNIVERSITY
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