A crane time optimal anti-sway control method and system

Abstract

The invention provides a crane time optimal anti-swing control method. The method comprises the steps of setting a designated running speed, an accelerated running time and a maximum running acceleration of a trolley or a cart; measuring the rope length of a load hoisting rope in real time, and calculating the load deflection frequency; and according to the relationship between the acceleration running time and the load deflection frequency, carrying out swing elimination on the acceleration and deceleration processes of the trolley and the cart respectively. According to the crane time optimal anti-swing control method, the length of the hoisting rope and the specified running speed are taken as input, the optimal control input when a crane system accelerates to the specified running speed from a static state or decelerates to zero from the specified running speed is solved by using a time optimal control principle, and then the switching time of acceleration and deceleration in the acceleration process or the switching time of deceleration and acceleration in the deceleration process is analyzed and obtained based on the phase track of the load deflection frequency, therefore, the cart and the trolley are controlled to accelerate to the specified running speed or decelerate to zero in the shortest time, and the load swing is eliminated, so that the working efficiency of the crane system is improved.

Description

technical field [0001] The invention belongs to the field of crane control, and in particular relates to a crane time optimal anti-sway control method and system. Background technique [0002] The bridge crane system includes carts, trolleys, lifting mechanisms and guide rails, etc., and is widely used in industrial sites such as workshops and warehouses, iron and steel metallurgy, and garbage disposal. However, the flexible characteristics of the crane make it inevitable that the load will swing when the speed changes. The swing of the load during the working process of the crane will seriously affect the working efficiency of the crane and threaten the safety of the surrounding staff and equipment. Therefore, in order to suppress the swing of the load, the traditional manual operation uses a "heel hook" to suppress the swing of the load, that is, when the swing angle of the load increases, control the operation of the cart or trolley to follow the load, thereby reducing th...

AI Technical Summary

Problems solved by technology

However, the open-loop optimization anti-sway based on input shaping is proportional to the expected running speed and lifting rope length of the cart and trolley in order to eliminate the load swing. The larger the expected running speed and the lifting rope length of the cart and trolley It will increase the displacement of the load and increase the running time, which will seriously affect the operating safety of the crane and make it difficult to operate the crane

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