An industrial crane control method and system for adaptive speed planning

Abstract

The invention discloses a method and system for controlling an industrial crane capable of self-adapting a speed planning. Under the limit conditions of a given acceleration and a maximum speed, a bridge crane motion trial is planned on line; a crane multi-pulse speed planning curve is provided according to a motion distance calculation model at the same time; the pulse number of the speed can self-adapt the planning; and smaller swing angle and higher positioning precision in the carrying process of the crane can be achieved without adding an off-line optimization calculation, so that the carrying safety, reliability and working efficiency of the crane in industrial production are greatly improved. The method and system for controlling an industrial crane capable of self-adapting a speedplanning mainly comprise a PLC (1), an angle measuring instrument (2), a laser range finder (3), a frequency converter (4), an alternating-current asynchronous motor (5), the crane (6) moving along the direction of a cross beam, and an upper computer (7).

Description

technical field [0001] The invention relates to a high-performance anti-sway positioning method for underactuated industrial-grade bridge cranes. Based on the adaptive speed planning method, under the given acceleration and maximum speed limit conditions, the method of online calculation of the anti-sway motion trajectory of the industrial-grade bridge crane. Background technique [0002] With the development of global industry and the expansion of production scale, the role of overhead crane in industrial production is increasing day by day. Overhead crane is an important heavy loading and unloading equipment, which is widely used in various industrial sites. However, the overhead crane will inevitably sway during the hoisting process. Therefore, it is of great significance to study the control and elimination of the sway of the bridge crane during hoisting and achieve precise positioning, which is of great significance for improving the operation efficiency, handling accu...

AI Technical Summary

Problems solved by technology

[0004] Technical problem: The purpose of the present invention is to provide a control method and system for industrial cranes with adaptive speed planning, aiming at the swinging phenomenon of heavy objects caused by the inertia of steel ropes during the rotation, handling and braking of cranes, which will seriously affect the handling efficiency , and even cause hidden dangers to ground workers. The present invention proposes a high-performance anti-sway positioning method for underactuated industrial-grade bridge cranes. Controlling the anti-sway during the handling process through adaptive speed planning is simple and easy to operate, and does not require offline optimization. , improve work efficiency, and meet industrial-grade requirements

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