Rotary anti-swing control method of mobile hoisting equipment

Abstract

The invention discloses a rotary anti-swing control method of mobile hoisting equipment. The rotary anti-swing control method comprises the following steps that S1, a simplified mechanical model of amobile port crane is established; S2, according to the Lagrange equation, kinetic analysis is conducted on swing of the hoisting load, and a kinetic equation of heavy object motion is deduced; S3, thedisplacement of a lazy arm and the swing angle of the hoisting load are calculated according to the kinetic equation of the lazy arm and the hoisting load; and S4, a numerical value of driving torqueis optimized through a PID controller, and the hoisting load rapidly reaching a designated position and anti-swing control over the lazy arm are achieved. According to the dynamic analysis and anti-swing control based on the PID mobile hoisting equipment, when the lazy arm does rotary motion, the hoisting load can run more stably, and swing is eliminated rapidly after the hoisting load reaches the designated position.

Description

technical field [0001] The invention relates to the field of hoisting system transportation. Background technique [0002] Mobile hoisting equipment specifically refers to mobile harbor cranes. The full English name is Mobile Harbor Crane, which is usually abbreviated and abbreviated as MHC. It is a flexible and efficient port equipment suitable for small and medium ports, and is used for handling containers and bulk cargo. [0003] The operation process of the boom mainly includes single-action and linkage control of the lifting, luffing, and slewing mechanisms. In the actual operation process, since the crane is an underactuated device, its independent control input variable degrees of freedom are less than the system output variable degrees of freedom , so the system cannot obtain input excitations on all degrees of freedom, that is, the crane drive system cannot directly act on the swing angle of the hoist, which brings difficulties to the rapid and accurate positioning...

AI Technical Summary

Problems solved by technology

[0003] The operation process of the boom mainly includes single-action and linkage control of the lifting, luffing, and slewing mechanisms. In the actual operation process, since the crane is an underactuated device, its independent control input variable degrees of freedom are less than the system output variable degrees of freedom , so the system cannot obtain input excitations on all degrees of freedom, that is, the crane drive system cannot directly act on the swing angle of the hoist, which brings difficulties to the rapid and accurate positioning of the hoist

[0004] For the dynamic analysis and anti-sway problems of port cranes, it is mainly concentrated on portal cranes and shore bridge cranes, but the movement mode of its boom is quite different from that of mobile cranes, and its method is not suitable for mobile cranes. Dynamic analysis and anti-swing control of crane

Moreover, the operation mode of the mobile port crane is quite different from that of the portal crane and the shore bridge crane. In practical applications, the mechanical model, motion equation, mechanical simulation and anti-swing control technology of the latter are not suitable for mobile port cranes. port crane

Images