Flexible Crane Hem Angle Measurement, Automatic Control and Evaluation System and Method

Abstract

The invention provides a system and method for downward swinging angle measurement and automatic control and evaluation of a flexible crane. Actual running of the flexible crane can be simulated; meanwhile, the lifting rope bending characteristic is obtained in a fitting manner due to vision calibration and machine learning, and is used for downward swinging angle measurement of a lifting rope. According to a measured value, the measured value can be used as a quantitative evaluation index of control performance, quantitative evaluation is performed on the controller performance, controller parameters are modified and optimized accordingly, and automatic or optimized control over a flexible crane system is performed.

Description

technical field [0001] The disclosure relates to a flexible crane hem angle measurement, automatic control and evaluation system and method. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] Bridge crane is a very common means of transport, it uses ropes to connect the load with the trolley on the crane, and transport the load to the designated location through the movement of the trolley, the crane is widely used in production workshops, installation sites And other industrial occasions. In view of the fact that when the bridge crane is running, the movement of the trolley on the crane will cause the load to swing, so that the load may collide with the surrounding operators or other objects, resulting in damage to the load and even casualties, especially when the trolley After arriving at the designated position and stopping operation, t...

AI Technical Summary

Problems solved by technology

[0004] However, most of the existing research results are based on the research results of rigid rope

The control dimension of the crane system is less than the degree of freedom of the system to be controlled, which is a typical underactuated system, and it is easily affected by external disturbances such as friction and wind during operation, especially in practical applications where the length of the rope reaches When the rope is more than ten meters or even tens of meters, the bending effect of the rope itself will be highlighted when it swings. At this time, it cannot be simply regarded as a rigid rope, otherwise it will have a significant impact on practical applications.

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