Tower crane movement planning method based on energy consumption optimization

Abstract

The invention discloses a tower crane movement planning method based on energy consumption optimization. The method comprises the following steps that S1, operation parameters of a tower crane are acquired; S2, a D-H coordinate system mathematical model of the tower crane is established according to the operation parameters of the tower crane, kinematic analysis and dynamics analysis of the systemstructure are carried out so as to be the basis for joint space analysis, constraint condition analysis and objective function analysis; S3, an improved asymmetric S-shaped motion curve is adopted inthe joint space and a constraint condition is introduced, wherein the motion curve is applied to a control system driven by an alternating current motor in the tower crane; and S4, a track energy consumption optimization model of the tower crane is constructed to obtain an optimal energy consumption objective function of the tower crane, the movement route of a tail end lifting hook of the towercrane with the optimal energy consumption is planned, and the tower crane is driven to work. According to the method, the movement route planning with the optimal energy consumption during operation of the tail lifting hook of the tower crane is realized, and the method has a good practical application prospect.

Description

technical field [0001] The invention belongs to the field of building industrialization, and particularly relates to a tower crane motion planning method based on energy consumption optimization. Background technique [0002] In the actual application process of tower cranes, a large part of the operation is realized by repeated communication between ground personnel and staff through walkie-talkies. During the hoisting process, it is easy to cause control errors, inaccurate hoisting and excessive energy consumption. With the advancement of intelligent manufacturing, the use of machinery and equipment to liberate people from high-risk industries is a major trend in future development. The patent of the invention can effectively improve the automation degree of the tower crane, simplify the work of the tower crane driver in the high-altitude control room, and only need to control the tower crane according to the calibration information of the target point in the ground monito...

AI Technical Summary

Problems solved by technology

[0002] In the actual application of the tower crane, a large part of the operation is realized by repeated communication between the ground personnel and the staff through the walkie-talkie. During the hoisting process, it is easy to cause control errors, inaccurate hoisting and excessive energy consumption.

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