Method and system for controlling industrial crane capable of self-adapting speed planning

A speed planning and control system technology, applied in the direction of load hanging components, transportation and packaging, etc., can solve the hidden dangers of ground workers, affect the handling efficiency and other problems, achieve the effect of suppressing the swing of the load and meeting the position accuracy requirements

Active Publication Date: 2019-09-13
SOUTHEAST UNIV +2
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Problems solved by technology

[0004] Technical problem: The purpose of the present invention is to provide a control method and system for industrial cranes with adaptive speed planning, aiming at the swinging phenomenon of heavy objects caused by the inertia of steel ropes during the rotation, handling and braking of cranes, which will seriously affect the handling efficiency , and even cause hidden dan

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  • Method and system for controlling industrial crane capable of self-adapting speed planning

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Embodiment Construction

[0023] The method of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0024] The trolley of the bridge crane is a complex underactuated system, and the number of independent control variables of the system is less than the number of degrees of freedom of the system. After simplified processing, it is shown as figure 1 Shown: The trolley of the bridge crane with mass M moves along the x-axis under the action of force F, and a heavy object with mass m is hung on the trolley of the bridge crane through a wire rope to perform an approximate simple pendulum motion.

[0025] The displacement of the bridge crane trolley and the weight in the plane coordinate system:

[0026]

[0027] Where L is the total energy of the system, and the bridge crane trolley is modeled by the Euler-Lagrange method, and the differential equation of motion of the system is obtained:

[0028]

[0029] where Q x is the force applied to the brid...

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Abstract

The invention discloses a method and system for controlling an industrial crane capable of self-adapting a speed planning. Under the limit conditions of a given acceleration and a maximum speed, a bridge crane motion trial is planned on line; a crane multi-pulse speed planning curve is provided according to a motion distance calculation model at the same time; the pulse number of the speed can self-adapt the planning; and smaller swing angle and higher positioning precision in the carrying process of the crane can be achieved without adding an off-line optimization calculation, so that the carrying safety, reliability and working efficiency of the crane in industrial production are greatly improved. The method and system for controlling an industrial crane capable of self-adapting a speedplanning mainly comprise a PLC (1), an angle measuring instrument (2), a laser range finder (3), a frequency converter (4), an alternating-current asynchronous motor (5), the crane (6) moving along the direction of a cross beam, and an upper computer (7).

Description

technical field [0001] The invention relates to a high-performance anti-sway positioning method for underactuated industrial-grade bridge cranes. Based on the adaptive speed planning method, under the given acceleration and maximum speed limit conditions, the method of online calculation of the anti-sway motion trajectory of the industrial-grade bridge crane. Background technique [0002] With the development of global industry and the expansion of production scale, the role of overhead crane in industrial production is increasing day by day. Overhead crane is an important heavy loading and unloading equipment, which is widely used in various industrial sites. However, the overhead crane will inevitably sway during the hoisting process. Therefore, it is of great significance to study the control and elimination of the sway of the bridge crane during hoisting and achieve precise positioning, which is of great significance for improving the operation efficiency, handling accu...

Claims

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Application Information

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IPC IPC(8): B66C13/22B66C13/48B66C13/46
CPCB66C13/22B66C13/46B66C13/48
Inventor 朱昱璇牛丹陈有成李奇魏双刘进波
Owner SOUTHEAST UNIV
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