Crane self-adaptation PID closed-loop anti-rocking control method

Abstract

The invention discloses a crane self-adaptation PID closed-loop anti-rocking control method. The crane self-adaptation PID closed-loop anti-rocking control method comprises the following steps: (S1) an initial acceleration of a crane is input under a k-meter rope length; a swing angle of the crane is output; an acceleration is corrected according to initial control parameters of a PID controller;the corrected acceleration is input; the corrected swing angle of the crane is output; and according to a NCD adjusting method, the corrected swing angle is limited, and control parameters of the PIDcontroller are optimized to obtain optimal control parameters of the PID controller corresponding to different rope lengths; and (S2) all the optimal control parameters of the PID controller are fitted to obtain a relation between the control parameters of the PID controller and the rope lengths. The method realizes effective anti-rocking of the crane under different rope lengths, is simple in control mode and easy to industrially apply, and can prominently improve the crane operation safety and the working efficiency.

Description

technical field [0001] The invention belongs to the technical field of crane control, in particular to an adaptive PID closed-loop anti-sway control method for a crane under variable rope length. Background technique [0002] Cranes are important logistics transportation equipment, which are widely used in various fields such as docks, hydropower stations, factory workshops, and material storage. Since the crane is a flexible and under-damped system, it is inevitable that the hoisting weight will deflect under the action of inertial force during its start-up acceleration and deceleration stop phases. If the swing angle is not restricted, it will not only greatly affect the loading and unloading efficiency of the crane, but also seriously threaten the safety of surrounding equipment and staff. Therefore, crane anti-sway technology has attracted extensive attention from domestic and foreign manufacturers and researchers. [0003] At present, electronic anti-sway technology i...

AI Technical Summary

Problems solved by technology

At present, domestic and foreign researchers have done a lot of research and attempts on electronic anti-sway, but the main work is focused on the optimization design and simulation of different control algorithms, which are embodied in the advanced control theory and intelligent control algorithm. At the same time, it brings about a more complex algorithm stru

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