Intelligent anti-swing control method for multi-section uniformly-variable-speed crane

Abstract

The invention discloses an intelligent anti-swing control method for a multi-section uniformly-variable-speed crane. The acceleration process of a running mechanism is divided into multiple sections of the uniform acceleration processes or the deceleration process of the running mechanism is divided into multiple sections of the uniform deceleration processes by taking the preset maximum allowable load swing amplitude and the lifting rope length as input variables on the basis of the system dynamics analysis rule of the crane through the input shaping principle of a two-order oscillation system according to the load deflection cycle, and load deflection is finally inhibited by controlling running of the running mechanism; meanwhile, multiple sections of the uniformly variable speed processes are optimized through an interpolation method. According to the method, by taking the maximum allowable load swing amplitude as the input variable, the safety of the crane in the running process is fully taken into account, the precision is controlled, and the safety and the working efficiency of the crane are significantly improved.

Description

technical field [0001] The invention relates to the field of cranes, more specifically, to an intelligent anti-sway control method for a multi-stage uniformly variable speed crane. Background technique [0002] In today's fast-paced economy, the handling of goods is becoming more and more frequent, and the requirements for cranes are getting higher and higher. Cranes are developing towards automation, intelligence and efficiency. [0003] The most widely used in the market is still the traditional crane. The load of traditional cranes will sway continuously during the operation of the operating mechanism, which seriously affects the working efficiency of the crane. Therefore, most traditional cranes rely on the heel hook operation to eliminate the swing of the load during the operation of the operating mechanism, but this requires a high level of technical level and operating experience for workers. increase, the load deflection angle is getting larger and larger, and the ...

AI Technical Summary

Problems solved by technology

At present, most of the electronic anti-sway is closed-loop control, and it is necessary to add a high-precision load deflection angle acquisition sensor device. The cost is high and it is not suitable for wide application in the market.

[0005] At the same time, most of the relevant research on the anti-sway control system of cranes stays at the theoretical research level, and the theoretical research is mostly concentrated on modern control methods, such as fuzzy control, robust control, adaptive control, neural network control and other nonlinear control methods. , and the combination with practical application is less

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