Anti-rocking control method of crane

Abstract

The invention relates to an anti-rocking control method of a crane. The method comprises the steps of calculating system energy of the crane according to an Euler-Lagrange law, thereby obtaining a kinetic equation of the crane; constructing a state space according to a PID-PID inner / outer ring control solution, afterwards expressing the state space through a state equation and an output equation,and finally finishing controlling of a swing angle and a position through a pole configuration manner, or optimizing a swing angle and a trolley position index according to a linear optimal quadraticcontrol principle when the system is transferred from an initial state to a target state. The anti-rocking control method can satisfy an engineering control requirement.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a crane anti-sway control method. Background technique [0002] As a multi-action hoisting machine that can vertically lift or horizontally transport heavy objects in a designated area, cranes are widely used in today's industrial sites. The bridge crane can move the heavy objects hanging on the hook three-dimensionally in the space, because of its small footprint, high work efficiency, simple structure, convenient operation and huge load, it is widely used in large Warehouses, factories, docks and construction sites, etc. [0003] The dynamic system of the bridge crane is a wire rope sling system, so it will cause unavoidable shaking of the load during use. With the increasing importance of bridge cranes in industrial sites, the degree of control of load shocks during operation directly affects their safety and production efficiency. The traditional anti-sway contro...

AI Technical Summary

Problems solved by technology

The traditional anti-sway control mainly relies on the operation of the operator to control the swing angle of the load. However, with the great improvement of the degree of industrialization, this anti-sway method can no longer meet the needs of users for efficient and safe production.

Incorrect operation of the moving direction of the trolley, rapid changes in the moving direction, unexpected start or stop, and acceleration or deceleration during the movement will all cause the load to swing, and the result will not only greatly reduce the working efficiency of the crane, but also It will pose a great safety hazard to the operator, the crane itself and the workplace

Images