Anti-rocking control method of crane

A control method and crane technology, applied in the direction of electric controllers, controllers with specific characteristics, etc., can solve problems such as reduced working efficiency of cranes, load swings, operators, and potential safety hazards of cranes

Inactive Publication Date: 2018-09-18
DONGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 t...

Method used

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  • Anti-rocking control method of crane
  • Anti-rocking control method of crane
  • Anti-rocking control method of crane

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Embodiment Construction

[0020] Below in conjunction with specific embodiment, further illustrate the present invention. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

[0021] The embodiment of the present invention relates to the control of the load swing angle of the crane and the position of the trolley by different control schemes, respectively based on classical control and modern control theory, using double closed-loop PID, state feedback pole configuration and LQR control to control the crane Effective control.

[0022] Principle of the present invention is:

[0023] 1. The establish...

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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...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 冯雪任正云范智平
Owner DONGHUA UNIV
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