Speed trajectory planning anti-swing method of double-pendulum bridge crane

Abstract

The invention discloses a speed trajectory planning anti-swing method of a double-pendulum bridge crane; when a crane load is in an irregular shape (distributive mass), a crane model needs to be seenas a double-pendulum crane; and the double-pendulum crane model is nearer actual life. The main thought of the method is to build a double-pendulum crane linear model for combining with a set speed trajectory planning equation; time-optimal acceleration and deceleration time parameters are obtained by using boundary conditions; then, the car tracking speed trajectory operation is controlled to achieve swing elimination of the double-pendulum bridge crane under the condition of no sensor feedback; when the load is operated in an appointed position, and when swing of the load is zero, the time is optimal. The method considers inhibition of first-grade and second-grade swing angles at the same time, but the control method is simple and easy to realize, can greatly improve the working efficiency of the crane, can effectively prevent accidents caused by swing of goods, and achieves wide application value on future transportation industry.

Description

technical field [0001] The invention belongs to the technical field of crane control, and relates to technologies such as mathematical modeling, motor control, mechatronics, sensors, etc., with speed trajectory planning and controller design as the core, and a method for speed trajectory planning and swing elimination of double pendulum bridge cranes based on motor control . Background technique [0002] Over the past few decades, bridge cranes have been used in various industrial sites, such as factories, mines, ports, construction sites, etc., in order to transport loads to designated locations conveniently. The advantage of cranes is not only to reduce the labor intensity of workers, but also to improve transportation efficiency. However, due to the acceleration or deceleration of the crane during the movement, residual swing will be generated when the load reaches the specified position, and this residual swing is under-damped. Once the residual swing occurs, the respon...

AI Technical Summary

Problems solved by technology

[0005] Although the above closed-loop control method has certain robustness and adaptability, it must measure the load angle and angular velocity information through the sensor system to complete the feedback.

These sensor systems undoubtedly increase the design difficulty and cost of the crane. In addition, in most cases, the angular velocity information is difficult to be accurately measured, especially the angular velocity information of the secondary pendulum

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