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Anti-swing control method for crane

A control method and technology of cranes, applied in the direction of load hanging components, transportation and packaging, etc., can solve the problems of increasing response rise time and reducing operating efficiency

Active Publication Date: 2015-11-04
HOHAI UNIV CHANGZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] In order to achieve a smooth transition, some smooth command plans have been designed in the prior art, such as S-curve, trigonometric function, Gaussian curve, and cam polynomial curve. will increase the rise time of the response and reduce operating efficiency

Method used

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  • Anti-swing control method for crane
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  • Anti-swing control method for crane

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Embodiment Construction

[0032] Below in conjunction with accompanying drawing of description, the present invention will be further described.

[0033] like figure 1 As shown, the trolley runs horizontally along the boom, x(t) is the displacement of the trolley, l is the length of the wire rope, m is the mass of the hoist, θ(t) is the swing angle of the hoist; the mathematic model of the hoist swing of the crane is adopted B for in is the damping ratio, ω n is the natural frequency of hoisting swing, t is the acceleration time; when the damping ratio The mathematical model of hoisting swing can be simplified as according to in is the acceleration; and the natural frequency of the hoisting swing inferred And then come to θ · · ( t ) + ω n 2 θ ( t ) ...

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Abstract

The invention discloses an anti-swing control method for a crane. Acceleration of a sling load of a suspension arm is performed through a cosine function; energy impact caused in the frequent starting and stopping processes of an executing component is restrained; the swing angle theta(t) of the sling load is worked out according to a swing mathematic model B of the swing load of the crane and the acceleration (please see the formula in the description) of the suspension arm; the swing angular speed (please see the formula in the description) of the sling load is obtained through derivation; according to the swing angle theta(t) of the sling load, the swing angular speed (please see the formula in the description) of the sling load, and the remnant swing amplitude computational formula (please see the formula in the description) of the sling load, the input frequency omega<c> of a shaping controller is worked out; according to the speed of the suspension arm operated by a crane operator and the input frequency omega<c> of the shaping controller, the acceleration amplitude A of the crane is worked out; finally, the acceleration (please see the formula in the description) is worked out and input into the shaping controller as an input signal, and a control signal is obtained; and the control signal passes a driving amplification unit and thus can control the executing element, and the remnant swing angle of the sling load can be zero after acceleration of the suspension arm of the crane. The method has the beneficial effects that in a crane control system, swing of the crane is eliminated, energy impact of the executing element is reduced, and the transport efficiency of the crane control system is improved.

Description

technical field [0001] The invention relates to a control method, in particular to a crane anti-sway control method, and belongs to the technical field of crane control. Background technique [0002] With the expansion of production scale and the improvement of automation, cranes, as important equipment for material handling, are widely used in modern production processes, and their operating performance will directly affect the efficiency and safety of the entire production process. [0003] However, due to the pendulum system formed by the inertia of the hoisting weight and the suspension cable, the hoisting weight will sway during its operation, especially during the starting and braking phases, and the swing amplitude is proportional to the acceleration and deceleration. Therefore, in applications with higher efficiency requirements, the swing range of the hoisting weight is also larger. [0004] At present, the degree of automation of cranes is generally not high. Alth...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/18B66C13/06
CPCB66C13/06B66C13/18
Inventor 李向国
Owner HOHAI UNIV CHANGZHOU
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