Bridge crane positioning and anti-swing control method for achieving random parking

Abstract

The invention provides a bridge crane positioning and anti-swing control method for achieving random parking. The positioning and anti-swing control that ensures random parking of a trolley is achieved as follows: the operation speed of the trolley is taken as an expected speed, the initial load swing angle is zero, and a pre-constructed crane random parking position positioning anti-swing controller taking the speed as an input is adopted; before a stop signal is given, only the load swing angle feedback anti-swing control is carried out; after the stop signal is given, the displacement of the trolley is set to be zero when the stop signal is given, the displacement of the trolley is calculated using the trolley speed fed back by a speed encoder in real time, and the position closed-loopcontrol is carried out, so that the double-closed-loop control is achieved. The positioning and anti-swing control for a cart is the same as that for the trolley. Random parking can be achieved, the use of a position sensor is reduced, the simple speed encoder is used for carrying out short-distance position feedback, the cost is reduced while the control effect is not influenced, and the controlsystem is simpler and can resist external impact.

Description

technical field [0001] The invention relates to the field of cranes, in particular to a positioning and anti-sway control method for bridge cranes that can realize parking at random positions. Background technique [0002] Bridge crane is a widely used industrial lifting equipment. As a special large-scale mechanical equipment, there is a considerable demand for a series of automatic control technologies to ensure its safe, efficient and stable operation during use in various industrial environments. [0003] The bridge crane uses cables to hoist cargo during operation, and the stretching direction of the cargo intersects with the movement plane of the trolley and cart at a large angle. Due to the acceleration and deceleration of the cargo during the hoisting process, due to the existence of the acceleration and deceleration process, the crane is bound to have a swing problem, which is more obvious during the start-up and braking process of the crane. The swing problem has...

AI Technical Summary

Problems solved by technology

The swing problem has certain restrictions on the speed increase. The higher the lifting speed of the cargo, the more difficult it is to control the swing, and at the end of the lifting, the existence of the swing will make it difficult to locate the cargo accurately, prolonging the lifting time and affecting the lifting efficiency. promote

At the same time, the existence of swing also has an impact on the safety of the lifting process. For example, in the metallurgical industry, the requirements for swing are extremely strict during the lifting of the ladle by cranes. If there is a large swing of the ladle during the lifting process, then It will cause molten steel to spill and leak, and the weight will cause the ladle to overturn, bringing great safety hazards

[0004] At present, the closed-loop anti-sway control strategy of bridge cranes is mainly angle single closed-loop control. There is a large gap between the final position of the trolley and the expected position of the operator. In the actual application process, it is difficult to realize random parking and stacking, which affects work efficiency. Difference

A small number of closed-loop anti-sway control systems have added displacement sensors. Commonly used displacement sensors include ultrasonic sensors, laser and infrared sensors, etc., and the prices are generally relatively expensive.

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