Online trajectory planning based efficient bridge crane swing elimination control method

A technology of overhead crane, trajectory planning, applied in the direction of load hanging components, transportation and packaging, etc.

Active Publication Date: 2012-11-28
NANKAI UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that recalculation is required when the target position of the trolley changes during the transportation process of the existing off-line planning method for the trajectory of the trolley, and to provide a high-efficiency anti-swing control method for the bridge crane based on the online trajectory planning, which avoids Offline calculation and iterative optimization realize online trajectory planning for real-time crane control, improve the transportation efficiency of the crane system, and effectively suppress and eliminate load swing

Method used

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  • Online trajectory planning based efficient bridge crane swing elimination control method
  • Online trajectory planning based efficient bridge crane swing elimination control method
  • Online trajectory planning based efficient bridge crane swing elimination control method

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Embodiment 1

[0151] 1. Trajectory planning

[0152] Due to the underactuated characteristics of the overhead crane, it is impossible to plan the motion of the load, so the trajectory planning method of the conventional industrial robot is not suitable for the crane system; therefore, a new online trajectory planning scheme for the overhead crane is proposed; The trajectory consists of two parts. The first part should ensure the positioning performance of the trolley, and the second part needs to effectively suppress and eliminate the load swing angle, and it cannot affect the positioning performance of the trolley. Based on this, the final planning (acceleration ) trajectory has the following expression:

[0153] x · · c ( t ) = x · · r ...

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Abstract

The invention provides an online trajectory planning based efficient bridge crane swing elimination control method. The method includes: constructing a swing angle elimination link for effectively restraining the substantial swing of a load and quickly eliminating a residual swing angle of the load after a trolley reaches a target position; combining the swing angle elimination link with a positioning reference trajectory together in a linear way so as to generate a final trajectory, thus ensuring accurate positioning of the trolley, and at the same time can effectively eliminating the swing angle and the residual swing angle of the load. Compared with existing crane trajectory planning technologies, the method can achieve online generation of a swing elimination trajectory, and has the advantages of simplicity and practicability, small online computation amount, high trolley transportation efficiency, as well as high swing elimination speed, thus being very suitable for real-time control of the crane system.

Description

technical field [0001] The invention belongs to the technical field of trajectory planning of an underactuated robot, in particular to a method for eliminating swinging of an overhead crane through trajectory online planning. Background technique [0002] Nowadays, robots have been widely used in industrial processing, assembly, home service and other fields. From a mechanical point of view, a robot is a system formed by the organic combination of moving and rotating joints. For a robot, if its degrees of freedom are equal to the dimensions of its independent control input, it is called a fully-actuated robot; if some joints cannot be driven, it is called an underactuated robot. [1]. Robot control methods can be divided into two types: stabilization control strategy and trajectory tracking control strategy. For the latter, it is convenient to integrate control indicators (such as work efficiency, etc.) into the trajectory planning, and then design a suitable tracking cont...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/06B66C13/22
Inventor 方勇纯孙宁张一淳
Owner NANKAI UNIV
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