Method for accurately positioning bridge cranes and planning tracks in online manner on basis of phase plane analysis

A bridge crane and trajectory planning technology, which is applied in the direction of load hanging components, transportation and packaging, etc., can solve the problems of severe load swing and low positioning accuracy of bridge cranes, and achieve the effect of suppressing swing and improving work efficiency

Active Publication Date: 2016-08-17
NANKAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problems of low positioning accuracy and severe load swing of bridge cranes in practical applications, and to provide an online trajectory planning method for precise positioning of bridge cranes based on phase plane analysis

Method used

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  • Method for accurately positioning bridge cranes and planning tracks in online manner on basis of phase plane analysis
  • Method for accurately positioning bridge cranes and planning tracks in online manner on basis of phase plane analysis
  • Method for accurately positioning bridge cranes and planning tracks in online manner on basis of phase plane analysis

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Embodiment 1

[0061] 1. Analyze the control target of the crane system. Based on the hierarchical braking scheme, the five-segment trolley trajectory planned by the present invention is as follows:

[0062] v = a 0 t , 0 t ≤ t 1 v m a x , t 1 t ≤ t ...

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Abstract

The invention discloses a method for accurately positioning bridge cranes and planning tracks in an online manner on the basis of phase plane analysis. The 32t bridge cranes can be automatically controlled by the aid of the method, and the method is excellent in positioning and anti-swing performance. The method includes simplifying system dynamics models and providing principles of phase plane processes; testing running characteristics of the industrial cranes in fields, analyzing the running characteristics and providing a process for planning the tracks in an online manner according to the running characteristics. The method has the advantages that track planning parameters are adjusted on an online manner by the aid of data of laser range finders in crane running procedures, grade braking schemes are adopted, theoretical analysis is carried out by the aid of analysis processes on the basis of phase planes, and system swing angles are proved to be close to zero when the bridge cranes reach target locations; the method is applied to automatic control systems of the 32t bridge cranes, excellent control effects can be realized, and accordingly the method has excellent practical application value.

Description

technical field [0001] The invention belongs to the technical field of automatic control of industrial bridge cranes, and in particular proposes an online trajectory planning method for precise positioning of bridge cranes based on phase plane analysis. Background technique [0002] Bridge crane is an important means of transportation. It is widely used in ports, industrial production and other work places. To a certain extent, it determines the transportation efficiency of the bridge crane. [0003] In many industrial productions, higher requirements are placed on the positioning accuracy of cranes. For example, nuclear fuel delivery cranes even require millimeter-level positioning accuracy. In order to achieve the goal of accurate positioning, it is necessary to use corresponding measurement and sensing units to obtain the exact position of the trolley. Due to cost and other reasons, encoder accumulation positioning is the most common positioning method on industrial bri...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/26B66C13/06
CPCB66C13/063B66C13/26
Inventor 方勇纯何博刘海亮
Owner NANKAI UNIV
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