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A fast point-to-point translation control method for a crane

A control method and point-to-point technology, applied in the field of crane translation, can solve the problems of low furnace temperature uniformity and stability, not paying attention to the timeliness of translation, and difficult to achieve automatic quenching, etc., so as to reduce the total running time of the crane, and the operation process is simple and efficient. Smooth and easy engineering

Active Publication Date: 2021-04-27
CHENGDU AIRCRAFT INDUSTRY GROUP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the anti-sway control methods of most cranes are based on anti-swing, and do not pay attention to the timeliness of translation.
In other rapid quenching processes such as aerospace aluminum alloy salt bath furnaces (quenching transfer time ≤ 7s, 10s), the quenching crane is required to move a point-to-point translation distance of 3-5 meters within 3-4s. The control method, either cannot quickly pan in place, or the swing is too large to fall
Therefore, it is difficult for the salt bath furnace to realize automatic quenching within 10s
At present, air circulation electric furnaces are used at home and abroad for rapid quenching of aluminum alloys, but the processing time and energy consumption are several times that of salt bath furnaces, and the furnace temperature uniformity and stability are lower than those of salt bath furnaces.

Method used

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  • A fast point-to-point translation control method for a crane
  • A fast point-to-point translation control method for a crane
  • A fast point-to-point translation control method for a crane

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] A fast point-to-point translation control method of a crane, planning the translation process of the crane into three stages of uniform acceleration, uniform speed, and uniform deceleration, wherein the formula of the translation acceleration of the crane is as follows:

[0048]

[0049] In the formula:

[0050] a 1 : The acceleration of the crane starting;

[0051] t 1 : Uniform acceleration time of the crane;

[0052] t 0 : given crane translation time;

[0053] The crane does not decelerate during the uniform acceleration and constant speed stages of translation, and only performs swing elimination during the final deceleration.

[0054] In the present invention, the crane performs translational motion with uniform acceleration, uniform speed, and uniform deceleration, so that the crane does not decelerate during the uniform acceleration and uniform speed stages of translation, and only performs swing elimination during the final deceleration, so as to achiev...

Embodiment 2

[0056] This embodiment is optimized on the basis of embodiment 1, such as Figure 1-2 Shown, the present invention mainly comprises the following steps:

[0057] Step S1: Establish the kinematics model of the crane rope pendulum system, and obtain the differential equation of the crane rope pendulum:

[0058]

[0059] In the formula:

[0060] d: crane rope pendulum swing;

[0061] L: equivalent rope length of the crane;

[0062] g: gravitational acceleration;

[0063] a: crane translational acceleration (variable over time);

[0064] Step S2: List the boundary conditions for solving the differential equation of the rope pendulum of the crane according to the translation distance of the crane, translation time, zero initial state, etc.:

[0065]

[0066] d t＝0 =0 (3)

[0067]

[0068]

[0069] In the formula:

[0070] s: required translational distance of the crane;

[0071] t 0 : given crane translation time;

[0072] t: time variable;

[0073] Step S3:...

Embodiment 3

[0089] A fast point-to-point translation control method for a crane. Assuming a working condition, the crane is required to translate a distance of 4.5m within 4s, and the rope pendulum of the crane should be as small as possible after the translation. In addition, the system is required to have a certain degree of redundancy. According to formula 2 in the four steps of the present invention:

[0090] ∫ 0 4 atdt=4.5

[0091] According to the feasibility of the project, the maximum value of the acceleration of the crane is preliminarily determined, which is obtained from formula 7:

[0092] 4m / s 2 ≥a 1 ≥1.6875m / s 2

[0093] Initially set the range of equivalent rope length of the crane:

[0094] 5m≥L≥1.5m

[0095] The above three formulas are the condition ranges for solving the differential equation (Formula 1) of the crane rope pendulum. Since it is stipulated that the uniform acceleration time is half of the uniform deceleration time, there are only two variables L ...

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Abstract

The invention discloses a fast point-to-point translation control method of a crane, which is based on the kinematics model of the crane rope pendulum system, and according to conditions such as translation time and distance, and plans the translation movement of the crane with uniform acceleration, uniform speed and uniform deceleration to realize The crane does not decelerate during operation, and only eliminates the swing during the final deceleration, so as to achieve the specified position in the shortest time and control the swing within the allowable range. It is suitable for working conditions requiring fast and short-distance translation, such as crane control in high-efficiency production lines, rapid quenching and other working conditions, and has good practicability.

Description

technical field [0001] The invention belongs to the technical field of crane translation, and in particular relates to a fast point-to-point translation control method of a crane. Background technique [0002] The fast and short-distance point-to-point translation control technology of cranes has broad application prospects in many industries and is one of the key technologies of fast cranes. At present, the anti-sway control methods of most cranes are based on anti-sway and do not pay attention to the timeliness of translation. In other rapid quenching processes such as aerospace aluminum alloy salt bath furnaces (quenching transfer time ≤ 7s, 10s), the quenching crane is required to move a point-to-point translation distance of 3-5 meters within 3-4s. The control method is either unable to quickly translate in place, or the swing is too large to fall. Therefore, it is difficult for the salt bath furnace to realize automatic quenching within 10s. At present, air circulat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C13/18B66C13/06
CPCB66C13/06B66C13/18
Inventor 张洪溢高景秋陈柯姜伟唐凯
Owner CHENGDU AIRCRAFT INDUSTRY GROUP