Bridge crane time/energy optimal trajectory planning method and system

An energy-optimized technology for overhead cranes, applied in control/regulation systems, general control systems, instruments, etc., can solve problems such as the optimization of operating time and energy consumption for lifting liquid loads by overhead cranes

Pending Publication Date: 2022-06-03
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Not only that, but the prior art does not take into account the optimization of the

Method used

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  • Bridge crane time/energy optimal trajectory planning method and system
  • Bridge crane time/energy optimal trajectory planning method and system
  • Bridge crane time/energy optimal trajectory planning method and system

Examples

Experimental program
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Embodiment 1

[0049] This embodiment provides a time / energy optimal trajectory planning method for an overhead crane.

[0050] A time / energy optimal trajectory planning method for an overhead crane, comprising:

[0051] Obtain trolley data, container data, liquid data and rope data;

[0052] Based on the trolley data, container data, liquid data and suspension rope data, the Lagrangian method is used to establish the dynamic model of the overhead crane system for suspending the liquid container;

[0053] On the premise of considering the driving state constraints and non-driving state constraints, using the convex optimization theory and according to the dynamic model, the problem of trajectory planning of the bridge crane is transformed into an optimal control problem;

[0054] Design the optimal trajectory with the goal of the shortest transportation time or the least energy consumption or the optimal time-energy;

[0055] Accurate positioning and sway suppression control of the bridge ...

Embodiment 2

[0165] This embodiment provides a time / energy optimal trajectory planning system for an overhead crane.

[0166] A time / energy optimal trajectory planning system for an overhead crane, comprising:

[0167] A data acquisition module configured to: acquire trolley data, container data, liquid data and sling data;

[0168] A model building module configured to: establish a dynamics model of an overhead crane system with a suspended liquid container based on the trolley data, the container data, the liquid data, and the sling data, using a Lagrangian method;

[0169] A model transformation module, which is configured to convert the trajectory planning problem of the bridge crane into an optimal control problem according to the dynamic model by using the convex optimization theory under the premise of considering the driving state constraint and the non-driving state constraint;

[0170] An optimal design module, which is configured to: design an optimal trajectory with the shorte...

Embodiment 3

[0174] This embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps in the time / energy optimal trajectory planning method for an overhead crane as described in the first embodiment above are realized .

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Abstract

The invention belongs to the field of electromechanical system control, and provides a bridge crane time/energy optimal trajectory planning method and system. The method comprises the following steps: acquiring trolley data, container data, liquid data and lifting rope data; based on the trolley data, the container data, the liquid data and the lifting rope data, adopting a Lagrange method to establish a bridge crane system dynamic model of the suspended liquid container; on the premise of considering driving state constraint and non-driving state constraint, converting a bridge crane trajectory planning problem into an optimal control problem according to the kinetic model by utilizing a convex optimization theory; with the shortest transportation time or the minimum energy consumption or the optimal time-energy as the target, an optimization track is designed; and according to the optimized track, realizing accurate positioning and swing suppression control of the bridge crane for hanging the liquid container.

Description

technical field [0001] The disclosure belongs to the field of electromechanical system control, and in particular relates to a time / energy optimal trajectory planning method and system for an overhead 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] Bridge crane is a kind of engineering machinery widely used in industrial production to lift goods. Due to the characteristics of its own mechanical structure, the bridge crane is a typical "under-actuated" electromechanical system that controls more with less. Especially in the metallurgical industry, the steel drum filled with liquid molten metal is suspended at the lower end of the trolley through a wire rope. During the hoisting process of liquid molten metal, due to inertia, there will be a "swing-swing" phenomenon in which the steel drum swings and the liquid molten metal sloshes...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 马昕李刚李贻斌
Owner SHANDONG UNIV
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