Intelligent crown block anti-swing control system based on iterative-genetic algorithms

Abstract

The invention provides an intelligent crown block anti-swing control system based on iterative-genetic algorithms. The system comprises an upper computer, a feedback module, a control module and a driving module. A simulation monitoring module of the upper computer is loaded with a genetic algorithm and a crown block mathematical model, and the upper computer inputs the iterative algorithm controlparameters obtained by the genetic algorithm to the control module. The feedback module is connected with the control module and sends an output signal to the control module. The control module is connected with the feedback module. The control module is loaded with the motor PI control algorithm and the iterative algorithm, and the output end of the control module sends the output PWM wave processed by the iterative algorithm to the input end of a servo motor; and on the one hand, the driving module is connected with the output end of the control module, and on the other hand, the real-timeposition of a crown block is controlled. According to the system, the iterative learning control and the genetic algorithm are combined and used in the crown block control, so that safe and reliable operation of the crown block can be rapidly and accurately realized within the finite time.

Description

technical field [0001] The invention relates to the field of intelligent equipment, and mainly relates to an iterative-genetic algorithm-based intelligent crane anti-swing control system capable of remotely realizing iterative control of motor parameters. Background technique [0002] At present, the anti-swing technologies of cranes are mainly: manual operation control, mechanical, electronic anti-swing and intelligent control. At present, in production, manufacturing, warehousing, processing and other links, most factories use cranes to lift materials between various sites. The crane basically adopts manual operation, relying on the workers' operating experience to estimate the path with the smallest swing angle and manually eliminate the swing. This scheme has high requirements for operators and it is difficult to accurately locate the landing point. Low, large operating errors, and will seriously affect the efficiency of the equipment. For the mechanical anti-swing dev...

AI Technical Summary

Problems solved by technology

The crane basically adopts manual operation, relying on the workers' operating experience to estimate the path with the smallest swing angle and manually eliminate the swing. This scheme has high requirements for operators and it is difficult to accurately locate the landing point. Low, large operating errors, and will seriously affect the efficiency of the equipment

For the mechanical anti-swing device, although it has the effect of eliminating the swing to a certain extent, it also has the following problems: the complexity of the anti-swing device, the increase of equipment cost, and the great difference in the anti-swing performance between full load and no load. series of questions

With the continuous development of electronic technology, a large number of control methods are applied to the anti-swing control system, such as fuzzy control, optimal control, etc., but these methods make the trajectory of the car not completely track the desired optimal curve, and the transportation efficiency not very high

[0003] For example, the patent CN 110407094 A discloses a dynamic smooth track-based bridge crane positioning and anti-sway control method, which introduces an acceleration smooth transition link on the basis of three-stage acceleration (switching is rigid) to reduce the impact of acceleration changes on the trolley. Direct impact, but due to the fixed segmented forward mode, it lacks time efficiency, the crane cannot reach the target position as soon as possible, and because of its fixed mode, the controller cannot perform self-optimization, and its optimization results are highly dependent on preset parameters

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