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Electronic anti-swing method for intelligent crane

A crane and electronic technology, applied in the field of electronic anti-sway of intelligent cranes, can solve problems such as affecting system operation efficiency, and achieve the effects of optimizing running time, simple structure and cost saving

Inactive Publication Date: 2020-04-03
博睿斯(上海)智能设备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

During the working process of the system, the acceleration and deceleration of large and small vehicles and the lifting of the load will cause the load to swing back and forth, which not only affects the operating efficiency of the system, but also causes accidents

Method used

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  • Electronic anti-swing method for intelligent crane

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Embodiment

[0020] The invention provides an electronic anti-sway method for an intelligent crane. The specific implementation and working principle of the electronic anti-sway method for the crane of the present invention will be described below.

[0021] Cranes usually include carts, trolleys, lifting mechanisms and guide rails. Through the calculation and analysis of the operating characteristics of the crane and the single-degree-of-freedom dynamics of the large and small trolleys and hoisting weights, it is known that when the trolleys and trolleys are moving at constant acceleration, the swinging law of the hoisting weight is similar to that of a single pendulum in a non-inertial system If the law of motion is the same, when the large and small carts switch between constant acceleration motion and uniform speed motion, the swing speed value at the end of the previous state remains unchanged, and the swing angle is converted to the swing angle at the new swing equilibrium position an...

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Abstract

The invention relates to the technical field of cranes, in particular to an electronic anti-swing method for an intelligent crane. The method comprises the steps of planning a carrying path accordingto a current position and a target position of a to-be-carried cargo; calculating a maximum acceleration and an operation speed according to the load quality of the crane, the length of a rope and thelength of the carrying path, and obtaining a time-optimal speed control curve; detecting the position of the crane in the carrying path, and determining the current operation state of the crane, wherein the operation state includes acceleration operation, constant-speed operation and deceleration operation; and realizing electronic anti-swing of the crane according to the operation state and thecorresponding speed control curve in the mode that a frequency converter controls variable-speed operation of a motor. According to the electronic anti-swing method, different preset speed control curves are correspondingly adopted according to different operation states of the intelligent crane, anti-swing is achieved, and meanwhile the operation time is optimized to the greatest extent.

Description

technical field [0001] The invention relates to the technical field of cranes, in particular to an electronic anti-sway method for an intelligent crane. Background technique [0002] When the crane is in operation, the hoisting weight swings seriously, which affects the working efficiency and has potential safety hazards. At present, open-loop and closed-loop control technologies are commonly used to realize anti-sway control of lifting equipment. Open-loop control methods mainly include positioning anti-sway control based on input shaping and positioning anti-sway control based on trajectory planning. The closed-loop control methods for realizing anti-swing include such control methods as feedback linearization, gain scheduling control, sliding mode control, predictive control, fuzzy control, neural network control, and passive control. [0003] However, the anti-sway control methods in the prior art are all designed for manually operated cranes, and there is no electroni...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/06
CPCB66C13/063
Inventor 黄刚强
Owner 博睿斯(上海)智能设备有限公司
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