Bridge crane positioning and anti-swinging control method based on on-line track planning

Abstract

The invention provides a bridge crane positioning and anti-swinging method based on on-line track planning. According to traditional on-line track planning, a constructed lyapunov function is only provided with a swinging angle control amount and has no displacement feedback, and a designed controller is coupled with less anti-swinging information. According to a control algorithm provided by themethod, under the condition that the number of adjusting parameters is unchanged, the displacement feedback is increased, and more swinging angle influence factors are coupled; and off-line iterativeoptimization is not needed, the transport performance of a bridge crane is improved, on-line rapid positioning and anti-swinging are realized, and the convenience of on-line parameter adjusting and the rapidity of response are achieved. Specifically, the method has the characteristics that a smooth positioning track is taken as the basis, the dynamic coupling relation between trolley moving and load swinging is utilized, an anti-swinging link which does not influence positioning is introduced, a positioning and anti-swinging track is constructed, the off-line iteration optimization is not needed, on-line track planning of a bridge crane is realized, the requirements for accurate positioning and load anti-swinging of a trolley are taken into consideration, the setting frequency and difficulty of the parameters are reduced, and the response speed is increased.

Description

technical field [0001] The invention belongs to the technical field of bridge crane control, and in particular relates to a control method for positioning and eliminating sway of bridge cranes based on online trajectory planning. Background technique [0002] As a transportation machine, bridge cranes serve and play an extremely important role in many fields of national economic construction such as port lifting, warehouse scheduling, manufacturing and assembly. During the transportation of bridge cranes, due to the inertial swing of the load caused by the traction of the trolley and the influence of external uncertain disturbances, the transportation efficiency of the bridge crane is directly reduced, accompanied by potential safety hazards, which greatly affects the safety of production operations. Therefore, the performance of bridge cranes must be continuously improved and optimized to meet the needs of high-speed, safe and stable production and construction. [0003] A...

AI Technical Summary

Problems solved by technology

This method requires workers to explore and practice for a long time. If equipment replacement or personnel transfer occurs, it will greatly affect production efficiency.

Moreover, the complexity of the production environment is sometimes unpredictable and timely, especially when working in severe weather and dangerous environments, such as ports, casting workshops, nuclear reactors and other places that people cannot approach, and it is necessary to meet personal safety and delivery accuracy at the same time. , the requirements for operators are more stringent, which increases the difficulty of using the bridge crane

In order to replace the manual control method, the traditional energy-based positioning and anti-swing strategy has been widely studied, but its control effect is not ideal; therefore, a high-precision positioning and anti-swing strategy is needed to avoid the danger of direct human participation and reduce human dependence and labor. strength

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