Multi-axis linkage anti-swing control method and system for crane

Abstract

The invention discloses a multi-axis linkage anti-swing control method and system for a crane. The method comprises the steps that the actual running speed of a trolley and the rope length of a lifting rope are obtained, the first swing angle and the first swing angle speed of the lifting rope and the actual running acceleration of the trolley are determined, setting operation is performed to formfeedback, and a first PID controller is used for adjusting a speed given value of a trolley traveling motor so as to adjust the actual running speed of the trolley; and the actual running speed of acart and the length of the lifting rope are obtained, a second swing angle, a second swing angle speed and the actual running acceleration of the cart are determined, setting operation is performed toform feedback, and a speed given value of a cart traveling motor is adjusted by using a second PID controller so as to adjust the actual running speed of the cart. According to the control method andthe control system, the actual running speed of the trolley and the actual running speed of the cart can stably run to the given speeds so as to meet the running requirements of the crane, and excessive swinging of the lifting rope in the left-right direction and the front-back direction is effectively eliminated.

Description

technical field [0001] The invention relates to the technical field of cranes, in particular to a multi-axis linkage anti-sway control method and a control system for a crane. Background technique [0002] A crane is a lifting device that is horizontally placed over the workshop, warehouse and stockyard for material lifting. The existing crane mainly includes components such as bridge frame, hoisting mechanism, trolley, cart moving mechanism, trolley moving mechanism and control room. called carts. During the operation of the crane, the weight on the hook of the lifting mechanism can move up and down with the rotation of the drum, that is, the extension and contraction of the sling, and can move left and right along with the movement of the trolley in the width direction of the workshop. The movement, as well as the movement of the cart in the length direction of the workshop, can realize the movement in the front and rear directions. During the operation of the crane, by ...

AI Technical Summary

Problems solved by technology

[0003] At present, when using a crane to lift heavy objects, when the heavy objects on the sling are driven by the trolley to move left and right, if the movement of the trolley is not properly controlled, the Make the sling swing a lot in the left and right directions; when the heavy objects on the sling are driven by the cart to move in the front and rear direction, if the movement of the cart is not properly controlled, the sling will also have a large swing in the front and rear direction. amplitude swing; and when the sling has a relatively large swing, it will not only affect the lifting efficiency, but also may lead to safety accidents

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