Optimized anti-shake control method for double-pendulum system of bridge crane

Abstract

The invention provides an optimized anti-shake control method for a double-pendulum system of a bridge crane. The method comprises the steps that the running speeds of a cart and a trolley are calculated according to the load weight and the rope length measured in real time; based on the dynamic differential equation of the crane, an analytical solution of a single-pendulum model of the bridge crane is obtained; using a quadratic objective function of an analytic solution under the action of three pulses, an optimal input shaper with a zero initial state is calculated; and then, according to acascade method for solving a dual-mode input shaper, the optimal input shaper for the double-pendulum system of the bridge crane is designed, and the swing of the load is eliminated by driving a cartrunning mechanism and a trolley running mechanism through a cart frequency converter and a trolley frequency converter respectively, so that the optimal anti-shake control of the double-pendulum of the crane is realized. The optimized anti-shake of long load horizontal lifting is realized, and the working efficiency and operation safety of the bridge crane are improved, so that the running speedsand running tracks of the cart and the trolley are more reasonable, and the engineering application is facilitated.

Description

technical field [0001] The invention belongs to the technical field of cranes, and in particular relates to an optimized anti-sway control method for a double pendulum system of a bridge crane. Background technique [0002] As an important special construction machinery, bridge crane plays an important role in the process of material handling. At the same time, with the modernization and digitalization of industry, bridge cranes have begun to develop in the direction of large-scale and high-speed. However, the contradiction between the long-term swing of the bridge crane during transportation and the working efficiency of the bridge crane has become increasingly prominent, which has seriously affected the working efficiency of the bridge crane. Therefore, the anti-sway control of bridge cranes, as a key technology to suppress load swing, has begun to attract a lot of attention from manufacturers and researchers. [0003] At present, the anti-sway technology of bridge crane...

AI Technical Summary

Problems solved by technology

However, the current anti-sway control technology of bridge cranes is mainly established according to the single pendulum system of bridge cranes. The application process is mostly double-stage pendulum; especially when the bridge crane lifts long loads, such as profiles, bars, etc., the anti-sway control method of the bridge crane based on the single pendulum model design will no longer be applicable

Images