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Offshore crane time optimal trajectory control method and system

A time-optimized and trajectory-controlled technology, which is applied to cranes, load-hanging components, transportation and packaging, etc., can solve the problem that the control method of land cranes cannot be directly used to control the offshore crane system, and does not consider the time limit of offshore cranes. Optimize transportation and other issues, achieve good load positioning and load swing elimination performance, good control effect, and improve efficiency

Active Publication Date: 2021-09-03
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the control method of the land crane cannot be directly used to control the offshore crane system simply
[0005] However, the inventors found that there are only a few effective control strategies for offshore cranes, and the existing methods do not consider the time-optimal transportation of offshore cranes

Method used

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  • Offshore crane time optimal trajectory control method and system
  • Offshore crane time optimal trajectory control method and system
  • Offshore crane time optimal trajectory control method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0040] In this embodiment, a time-optimal trajectory control method for an offshore crane is disclosed, including:

[0041] Collect system state variables;

[0042] Input the collected system state variables into the transformed system state variable equation expressed by the flat output, and obtain the transformed system state variables;

[0043] Input the collected system state variables into the time optimal problem model to obtain the optimal transportation time. The time optimal problem model takes the shortest transportation time as the goal and constrains the system state variable to be less than or equal to the allowable value;

[0044] Determine the optimal time reference trajectory according to the optimal transportation time and system state variables;

[0045] According to the transformed system state variables and the optimal time reference trajectory, the mast pitching driving torque and load lifting driving force are obtained;

[0046] The crane is controlled ...

Embodiment 2

[0217] In this embodiment, a time-optimized trajectory control system for an offshore crane is disclosed, including:

[0218] The data acquisition module is used to collect system state variables;

[0219] The transformed system state variable acquisition module is used to input the collected system state variable into the transformed system state variable equation expressed by the flat output, and obtain the transformed system state variable;

[0220] The optimal transportation time acquisition module is used to input the collected system state variables into the time optimal problem model to obtain the optimal transportation time. value constraints;

[0221] An optimal time reference trajectory acquisition module, used to determine the optimal time reference trajectory according to the optimal transportation time and system state variables;

[0222] The driving force acquisition module is used to obtain the mast pitching driving moment and the load lifting driving force ac...

Embodiment 3

[0225] In this embodiment, an electronic device is disclosed, including a memory, a processor, and computer instructions stored in the memory and executed on the processor. When the computer instructions are executed by the processor, a method disclosed in Embodiment 1 is completed. The steps described in a time-optimal trajectory control method for an offshore crane.

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Abstract

The invention discloses an offshore crane time optimal trajectory control method and system, and aims to solve the problem of automatic control of an offshore crane system. Good load positioning and load swing eliminating performance is achieved, firstly, a kinematic model of the system is transformed for subsequent analysis, a kinematic model is analyzed to find that the system accords with differential flat characteristics, coordinates of a load in a geodetic coordinate system are flat output, a complex coupling relationship between state variables is processed, a track planning problem of the offshore crane system is converted into a flat output planning problem, and then, a series of physical constraints including mast movement speed and acceleration constraints, lifting rope movement speed and acceleration constraints and load swing angle and angular velocity constraints are considered, a time optimization problem is further constructed, and then the optimal transportation time and the corresponding optimal reference trajectory are obtained by using a dichotomy-based method. A simulation result shows that a good control effect can be obtained.

Description

technical field [0001] The invention relates to the technical field, in particular to a method and system for controlling a time-optimized trajectory of an offshore crane. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] As a very important mode of transportation by sea, offshore cranes are used more and more widely. Offshore cranes are widely used in ports and play a vital role in port handling. Different from the most widely used bridge cranes, offshore cranes have a structure similar to that of land fixed mast cranes, which use mast movement and rope lifting movement to complete the purpose of transporting loads, and offshore cranes have better performance than bridge cranes. Flexibility and extensiveness, which can ensure enough working space in a limited footprint, greatly improve the working efficiency of offshore cranes, however, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C23/52B66C13/22B66C13/48
CPCB66C23/52B66C13/22B66C13/48
Inventor 陈鹤张然
Owner HEBEI UNIV OF TECH
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