Crane control method based on input shaping technology

Abstract

The invention provides a crane control method based on the input shaping technology. The crane control method is characterized in that a mathematical model, based on Lagrange's kinetic equations, of a crane is analyzed and calculated; for errors in the actual system modeling, the crane is controlled by utilizing a zero vibration and derivative (ZVD) input shaper; and the designed ZVD input shaper for the crane is simulated and verified. By adoption of the crane control method, the load swing of the crane can be effectively reduced; the crane can be quickly positioned by utilizing such a control mode based on the input shaping technology, thereby preventing the system structure mass enhancement caused by a damping increase or a rigidity improvement; and accordingly, the cost can be reduced.

Description

technical field [0001] The invention relates to a crane control method, in particular to a crane control method based on input shaping technology. Background technique [0002] A crane is a type of slewing crane. In the marine environment, the crane is a special mechanical tool for lifting operations. After lifting the load, it moves to the deck of the target ship to lay down the load. Whether it is military or civilian, the crane plays a very important role in marine engineering. effect. But because the sling of the crane is a flexible steel wire rope, the crane will swing when lifting the goods. In order to eliminate the residual swing of the load and improve the working efficiency of the crane, most cranes are equipped with anti-swing devices. Anti-swing devices are mainly divided into two categories in form: mechanical anti-swing devices and electronic anti-swing devices. In the mechanical anti-swing, the operator needs to slow down or add reverse damping to reduce o...

AI Technical Summary

Problems solved by technology

In the mechanical anti-swing, the operator needs to slow down or add reverse damping to reduce or even suppress the swing of the load, which will not only increase the working cost, but also reduce the production efficiency

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