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A crane anti-sway control method and system

A control method and control system technology, applied in the field of crane anti-sway control method and system, can solve the problem that the crane cannot realize smooth adjustment, etc., and achieve the effect of improving anti-sway control precision, large-height anti-sway, and stable control process

Active Publication Date: 2018-09-07
SANY MARINE HEAVY IND
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to provide a crane anti-sway control method, which aims to improve the problem that the existing crane cannot realize smooth adjustment
[0004] Another object of the present invention is to provide a crane anti-sway control system, which aims to improve the problem that existing cranes cannot achieve smooth adjustment

Method used

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  • A crane anti-sway control method and system
  • A crane anti-sway control method and system
  • A crane anti-sway control method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] Such as figure 1 As shown, it is a schematic diagram of the interaction between the host system 10, the peripheral device 20 and the display 30 provided by the preferred embodiment of the present invention. interact. In this embodiment, the host system 10 may be a computer or a server, or other computing devices including a processor.

[0047] Such as figure 2 , is a schematic diagram of a crane anti-sway control device 100 provided by a preferred embodiment of the present invention applied to a host system 10 , where the host system 10 includes a memory 200 , a storage controller 300 , a processor 400 and a peripheral interface 500 .

[0048] The components of the memory 200 , the memory controller 300 , the processor 400 and the peripheral interface 500 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, each component can be electrically connected to each other through one or more communication...

Embodiment 2

[0070] see Figure 4 , this embodiment provides a crane anti-sway control method, including

[0071] S201. Obtain the length of the rope of the spreader and the speed of the spreader under a preset nonlinear time-varying model.

[0072] The preset nonlinear time-varying model is stored in the storage module 110 . The nonlinear time-varying model is

[0073]

[0074] Among them, G is the feedback coefficient, L is the length of the spreader rope, and i is the speed of the spreader. The spreader speed i is the derivative of the spreader rope length L.

[0075] The preset nonlinear time-varying model is stored in the storage module 110, and the acquisition module 120 acquires the length of the rope of the spreader and the speed of the spreader in real time under the preset nonlinear time-varying model.

[0076] S202, using a variable coefficient control method to transform the nonlinear time-varying model into a time-invariant model by changing the feedback coefficient.

...

Embodiment 3

[0082] see Figure 5 , the present embodiment provides a crane anti-sway control system 40, including a crane body, a robot arm, a trolley, a spreader, a host system 10, peripheral devices 20 and a display 30, the robot arm is arranged on the crane body, and the trolley is arranged on On the mechanical arm, the spreader is connected to the trolley, the display 30 is connected to the host system 10, the host system 10 is connected to the peripheral device 20, and the peripheral device 20 is connected to the trolley and the spreader.

[0083] In this embodiment, the peripheral device 20 includes a programmable controller 210 , a driver 220 and an encoder 230 , the programmable controller 210 communicates with the host system 10 , and the driver 220 communicates with the programmable controller 210 and the encoder 230 respectively.

[0084] The crane anti-sway control system 40 provided in this embodiment has the same partial structure and principle as well as the technical effec...

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Abstract

The invention provides a swinging prevention control method of a crane and a system thereof and relates to the field of hoisting and conveying devices. The swinging prevention control method of the crane is applied to an upper system which is electrically connected with an external device. The swinging prevention control method of the crane comprises the following steps: obtaining the rope length and the speed of a hoisting tool under a preset non-linear time-variant model; converting the non-linear time-variant model into a time-invariant model by changing feedback coefficient by using a coefficient-variable control method; outputting moving trajectory to the external device and controlling the hoisting tool through the external device. According to the swinging prevention control method of the crane and the system thereof, the coefficient-variable control method is used for changing the preset non-linear time-variant model into the time-invariant model; the control process of the crane is stable; the high-height swinging prevention can be achieved; the swinging prevention control accuracy is improved.

Description

technical field [0001] The invention relates to the field of hoisting and transporting equipment, in particular to a crane anti-sway control method and system. Background technique [0002] For existing cranes, especially large-tonnage ship unloaders, the grab will sway when the trolley drives the grab to move, which will affect the operation. Therefore, the crane needs to have an anti-sway function. At present, whether the anti-sway is based on the fuzzy control PID (Proportion Integration Differentiation (Proportion Integration Differentiation, PID)) algorithm or the PID control strategy based on the analysis of the characteristics of the pendulum, there are repeated non-smooth car acceleration and deceleration control. Smooth adjustment cannot be achieved. Contents of the invention [0003] The object of the present invention is to provide a crane anti-sway control method, which aims to improve the problem that the existing crane cannot realize smooth adjustment. [0...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C13/06B66C13/22G06F17/50
CPCB66C13/063B66C13/22G06F30/17G06F30/367
Inventor 王君雄唐修俊谭景超
Owner SANY MARINE HEAVY IND