Emergency Braking Method for Overhead Cranes Facing Trolley Parking and Load Elimination

Abstract

Provided is a bridge crane emergency braking method for trolley stop and load swing eliminating. The aim of emergency braking of a non-linear bridge crane system is achieved. The method has the performance of quick trolley braking and load swing inhibiting. Firstly, the target of crane system emergency braking is deeply analyzed and divided into two parts to be treated, namely, quick trolley braking and load swing inhibiting in the braking process. Then, corresponding control methods are designed aiming at trolley braking and load swing inhibiting through analysis of a system dynamics model. Finally, two control strategies are combined, a comprehensive emergency braking strategy is put forward to achieve the control target of trolley stop and load swing eliminating at the same time. The experiment result indicates that the method can achieve a good control effect, and has high actual application value.

Description

technical field [0001] The invention belongs to the technical field of automatic control of nonlinear underactuated mechanical systems, and in particular relates to a crane emergency braking method focusing on emergency braking of bridge crane trolleys and suppression of load swing. Background technique [0002] In the process of industrial production, in order to move heavy loads to their designated positions, various crane systems are widely used, and they provide great help for the completion of industrial tasks. Among them, the bridge crane system, as the most common crane system, plays a very important role in industrial production. For the bridge crane system, the load cannot be directly controlled, but the movement of the trolley drags the load. This design reduces the cost of the system, but also increases the difficulty of system control, making the overhead crane system an underactuated system [1] . Therefore, generally speaking, bridge cranes are operated by ex...

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