Anti-sway control method for loop-opening fuzziness of bridge type crane

Abstract

The invention provides an anti-swag control method for loop-opening fuzziness of a bridge type crane. The anti-swag control method comprises the following steps: constructing a two-dimensional dynamicmodel of a bridge type crane system through system identification experiment; combining a particle swarm optimization algorithm with the two-dimensional dynamic model, and designing an optimal deceleration anti-sage curve of a trolley; establishing an optimal deceleration curve look-up table of the trolley; utilizing a fuzziness control principle to verify the optimal deceleration curve look-up table of the trolley; during system operation, firstly measuring rope length and calculating an initial angle of a deceleration stage, separately quantifying the rope length and the initial angle intodifferent grades, looking up the table in the optimal deceleration curve look-up table of the crane according to the initial speed of the deceleration stage, and selecting the corresponding optimal deceleration curve to realize the purpose of restraining load swag. The anti-swag control method can realize anti-swag control under different working conditions by looking up the table, remarkably improves operation safety of the crane, reduces an anti-swag distance and anti-swag time, and improves working efficiency and operation stability of the bridge type crane.

Description

technical field [0001] The invention relates to the field of cranes, in particular to an open-loop fuzzy anti-sway control method for bridge cranes. Background technique [0002] Bridge crane is a widely used industrial lifting equipment. As a special large-scale mechanical equipment, there is a considerable demand for a series of automatic control technologies to ensure its safe, efficient and stable operation during use in various industrial environments. 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, crane anti-sway technology is mainly divided into two types: open-loop anti-sway ...

AI Technical Summary

Problems solved by technology

Regarding the closed-loop anti-sway control method, researchers at home and abroad have done a lot of research and attempts, but the main work is focused on the optimization design and simulation of different control algorithms, which are embodied in the advanced control theory and intelligent control algorithm. Brings problems with more complex algorithm structure

The control algorithm is more dependent on the precise mathematical model of the crane, and it is difficult to adapt to the complex environment in which the crane works (there are more and more complex external disturbances), and to adapt to changes in various parameters, such as rope length, speed, acceleration Wait, it is difficult to be applied in engineering practice

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