A control method for anti-sway operation of a tower crane

Abstract

The invention discloses a tower crane anti-swing operation control method. The method comprises the steps that crane operating parameters are input; the crane transport time is equally divided into Nsegments, an accelerated speed curve on each segment is approached through a one-time straight line method, and a state curve is calculated through a four-step Runge-Kutta method; and an SQP optimization algorithm is adopted to optimize the control parameters of the segmented straight line, and the optimal accelerated speed control curve is obtained.

Description

technical field [0001] The invention relates to the field of automatic control of tower cranes, in particular to a method for controlling anti-sway operation of tower cranes. Background technique [0002] With the development of the industrialization of the construction industry and the improvement of automation, tower cranes are indispensable in construction equipment, and their operating performance will directly affect the efficiency and safety of the construction process. Therefore, it makes sense to plan the operation process of the tower crane. [0003] However, the transport system of the tower crane is a type of underactuated system, the control quantity cannot directly control the swing of the load, but can only be controlled indirectly through the coupling relationship between the acceleration of the luffing trolley and the swing of the load. [0004] At present, most of the tower cranes are controlled by manual control. The driver transports the load to the targe...

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Problems solved by technology

[0003] However, the transport system of the tower crane is a type of under-actuated system, the control amount cannot directly control the swing of the load, but can only be controlled indirectly through the coupling relationship between the acceleration of the luffing trolley and the swing of the load

[0004] At present, most of the tower cranes are controlled by manual control. The driver transports the load to the target position according to personal experience. However, there will inevitably be residual swing angle after the load is transported to the target position; A small swing angle will cause a large swing displacement, which will greatly reduce the operating efficiency of the tower crane

[0005] In recent years, some closed-loop anti-swing control technologies have been developed, mainly adding sensors to monitor the swing angle of the steel wire rope to detect the swing angle of the load, and generating new control quantities through the transformation of the control algorithm based on the swing angle and swing speed. Dynamic control The swing angle of the load, however, closed-loop control will inevitably increase the complexity of the control system and increase the cost of equipment

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