Crane anti-swinging control method based on positive and negative POSICAST input reshaping method

Abstract

The invention relates to a crane anti-swinging control method based on a positive and negative POSICAST input reshaping method, which is applicable to any n time lag conditions. When the time lag of a designed reshaping device is shorter, the maximum value of a swinging angle is larger; when the time lag is longer, the maximum value of the swinging angle is smaller; meanwhile, when the jumping of an accelerated velocity is smaller, and the speed is gentler. A user can select freely according to actual conditions. The crane anti-swinging control method disclosed by the invention is applicable to a damping system and is also applicable to a non-damping second-order system. The method is an open loop control method, so that the method has the advantages that a measurement sensor for closed loop feedback is not needed. The crane anti-swinging control method utilizes phase step accelerated velocity input and aims at reshaping of phase step accelerated velocity output; compared with a pulse accelerated velocity input method, the speed is continuously changed, and a project is easy to realize. The crane anti-swinging control method is suitable for taking any phase step signal as input, and a damping second-order system is used for an anti-swinging system or a system for enabling certain output to finally return back to an original position.

Description

technical field [0001] The invention relates to a port crane anti-sway control method, in particular to a family of crane anti-sway control methods based on positive and negative POSICAST input shaping methods. Background technique [0002] During the actual operation of the bridge crane, the trolley will move along the running track of the cart while controlling the hoisting weight through the elevator. In this way, the lifting movement of the hoisting weight on the vertical plane cooperates with the horizontal movement of the trolley relative to the cart, and the hoisting weight is delivered to the designated position. Many scholars hope that some sensors can be used to monitor the hoisting state in real time, but adding sensors will make the system more complicated and greatly increase the cost of the equipment. Therefore, for crane anti-sway, it is more preferred to design a set of crane anti-sway equipment that is suitable for the wharf environment, is safe and effecti...

AI Technical Summary

Problems solved by technology

The crane driver relies on his work experience and flexible adaptability to reduce the swing of the hoisting weight as much as possible. However, the crane driver must constantly adjust the speed of the trolley according to the site conditions, which will cause the crane driver's physical discomfort and greatly increase workload

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