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Anti-swing driving control method for crane

A crane and anti-sway technology, which is applied to load hanging components, transportation and packaging, complex mathematical operations, etc., can solve problems such as low control accuracy, limited adjustment effect, and slow response speed.

Inactive Publication Date: 2019-12-20
山东深川变频科技股份有限公司
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  • Abstract
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Problems solved by technology

The structure of the open-loop anti-sway control system is simple, but the control precision is low, the response speed is slow, and the adjustment effect is limited

Method used

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  • Anti-swing driving control method for crane
  • Anti-swing driving control method for crane
  • Anti-swing driving control method for crane

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Embodiment 1

[0064] like Figure 1-7 As shown, the crane anti-sway driving control method of the present invention includes the following steps:

[0065] Step 1. Input variables through sensors, including car position x, speed Load swing angle θ and swing angular acceleration

[0066] Step 2, according to the formula will input the variable x θ Input the sliding mode control module, and introduce the output of the sliding mode control module into the type II fuzzy system for processing, among which, the s 1 ,s 2 Indicates the first-level sliding plane composed of two groups of states of horizontal displacement and swing angle, c 1 , c 2 Indicates the input adjustment parameters, α and β respectively represent the adjustment parameters of the first-level sliding function, e represents the difference between the current position x and the reference position x* in the horizontal direction, is the speed error of the horizontal motion of the crane;

[0067] Step 3, according...

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Abstract

The invention relates to the field of crane control, in particular to an anti-swing driving control method for a crane. The anti-swing driving control method comprises the following steps: step 1. inputting variables through a sensor, including a trolley position x, a speed load swing angle theta, and a swing angle acceleration; step 2. inputting the input variables into a sliding-mode control module, introducing the output quantity of the sliding-mode control module into a type-2 fuzzy system for processing; step 3. setting an input-output membership function in a type-2 fuzzy controller; step 4. performing type-2 fuzzy reasoning and type reduction according to the fuzzy rules, and obtaining the final accurate output value Y by solving ambiguity; step 5. converting the output variables ofa fuzzy domain into the actual output value control force according to u=k0*Y, wherein k0 is a constant; and step 6. applying the value of u to an anti-swing model of the crane to obtain the swing angle, and then going back to step 1 until the swing angle reaches the set value. The anti-swing driving control method has relatively robustness, excellent handling performance and relatively strong anti-interference ability.

Description

technical field [0001] The invention relates to the field of crane control, in particular to a crane anti-sway drive control method. Background technique [0002] When the crane is working, the crane's cart, trolley and lifting device work independently through their own work instructions. When the crane transports the goods and accelerates the horizontal movement, or when the goods are transported to the target location and decelerates, the goods will sway due to the acceleration and deceleration of the crane cart and trolley. When the cargo is swaying, the unloading operation cannot be carried out. For the sway phenomenon, the general measure is that the crane operator controls the large and small vehicles so that the acceleration direction of the cart and trolley is the same as the swing direction of the cargo to reduce the maximum sway angle, and gradually reduces the maximum sway angle through repeated operations. Eliminates sway. It is time-consuming and labor-inten...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/08B66C13/16B66C13/48G06F17/10G06F17/12
CPCB66C13/08B66C13/16B66C13/48G06F17/10G06F17/12
Inventor 叶益强陈礼根张玉北
Owner 山东深川变频科技股份有限公司
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