Offline bridge crane locus control method

An overhead crane and trajectory control technology, applied in the direction of load hanging components, transportation and packaging, can solve the problem of unable to guarantee the important constraints of the crane system, and achieve the effect of simple and practical trajectory

Active Publication Date: 2014-11-05
扬州祥帆重工科技有限公司
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Problems solved by technology

[0004] The present invention aims to solve the shortcomings that the existing regulation control and existing trajectory planning methods cannot guar

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  • Offline bridge crane locus control method
  • Offline bridge crane locus control method
  • Offline bridge crane locus control method

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Embodiment Construction

[0109] Further illustrate the present invention below in conjunction with accompanying drawing.

[0110] The constrained underactuated overhead traveling crane acceleration trajectory control method provided by the present invention comprises the following steps:

[0111] 1. Description of experimental steps

[0112] Step 1. Trajectory planning scheme

[0113] For traditional bridge cranes, a three-stage acceleration (uniform acceleration-uniform speed-uniform deceleration) trajectory is generally used for transportation, that is, the attached figure 2 shown. However, the discontinuity of acceleration may cause certain damage to the crane equipment; moreover, in the actual application process, it is challenging to strictly follow the three-stage acceleration trajectory. Therefore, the present invention proposes a kind of smooth acceleration trajectory, and its expression is as follows:

[0114]

[0115] Among them, a max is the maximum acceleration used in the actual t...

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Abstract

An offline bridge crane locus control method is a constrained under-actuated bridge crane acceleration locus control method. The method comprises the following steps: 1, locus programming scheme: adopting a smooth acceleration movement locus; 2, locus parameter determination: solving the kinetics equation of a crane system and analyzing a coupling relationship between trolley acceleration and load swing for any delivery process, and calculating an actual maximum acceleration amax, a uniform acceleration ta time and a uniform speed time tc in order to obtain an ideal acceleration locus meeting some core performance indexes; and 3, control method realization: realizing the crane control by calculating a deviation between x(t) and an acceleration single continuous integral signal xv(t) in real time by means of a trolley displacement signal x(t) and a speed signal and using a traditional PD controller to generate a corresponding drive motor control command in order to complete a transport task.

Description

technical field [0001] The invention relates to a trajectory control method used in the control field of an underactuated bridge crane, in particular to a control method for the acceleration motion trajectory of a bridge crane. Background technique [0002] Overhead crane is a typical underactuated nonlinear system, which is widely used in ports, workshops, construction sites, warehouses and other places for cargo transportation. During the working process, the trolley can move along the track on the bridge frame, and transport the goods from the starting position to the target position safely and quickly. However, due to the under-actuated characteristics of the system, the movement of the trolley will cause the load to swing, which poses a safety hazard, making it possible to collide with other goods or operators around. Not only that, but the swing of the load greatly reduces the working efficiency of the crane. Therefore, for the underactuated overhead traveling crane ...

Claims

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Application Information

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IPC IPC(8): B66C13/18
Inventor 武宪青欧县华何熊熊
Owner 扬州祥帆重工科技有限公司
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