Crane steel rope resonance elimination anti-swing control method

Abstract

The invention provides a crane steel rope resonance elimination anti-swing control method and belongs to the technical field of bridge crane anti-swing. The crane steel rope resonance elimination anti-swing control method comprises the steps that S1, a kinetic model of a crane system is established; S2, a state space model when a crane steel rope is subjected to resonance interference is established according to the crane kinetic model; S3, a crane sliding mode controller used for controlling a crane in the crane system to be accurately positioned and restraining the crane from swinging is established according to the state space model; and S4, a wave trap used for restraining resonance between the steel rope and a hoisted object in the crane system is established according to the crane sliding mode controller. According to the crane steel rope resonance elimination anti-swing control method, the sliding mode controller can control the crane in the crane system to be accurately positioned and restrain swinging of the crane, the wave trap can effectively restrain the resonance phenomenon between the steel rope and the hoisted object, the swinging amplitude is reduced, and meanwhile,the sliding mode controller can be helped to more rapidly and accurately realize trolley positioning and weaken swinging of the steel rope of the crane.

Description

technical field [0001] The invention relates to the technical field of anti-swing of bridge cranes, in particular to a control method for harmonic elimination and anti-swing of crane steel ropes. Background technique [0002] With the rapid development of my country's economy, many infrastructure projects are increasing. Due to the advantages of simple structure, strong load capacity, convenient operation, small footprint and high transportation efficiency, bridge cranes are widely used in ports, railway stations, engineering, warehouses and most large-scale projects. In these environments Overhead cranes play a very important role in logistics and transportation. As a kind of special large-scale mechanical equipment, overhead cranes are widely used in various industrial environments, and there is a considerable demand for a series of automatic control technologies to ensure their safe, efficient and stable operation. For example, when loading and unloading goods at the po...

AI Technical Summary

Problems solved by technology

However, due to some reasons, the application of the crane system is limited, and we need to continuously improve the crane system

In actual operation, workers with rich operating experience are usually required to operate the bridge crane. Long-term highly concentrated operations will easily cause fatigue and negligence of the operators, which may cause safety accidents; due to changes in the quality of heavy objects, or trolleys During the acceleration, constant speed, and deceleration during transportation, heavy objects will swing greatly due to inertia; changes in the elongation and contraction of steel ropes, friction and wear of rails; external disturbances such as strong winds will increase the difficulty of overhead crane control.

Due to the characteristics of underactuation, strong coupling, and nonlinearity of the bridge crane system, the difficulty of crane control is increased, and the crane cannot be docked at the designated position quickly and accurately, reducing work efficiency or causing heavy objects during hoisting and transportation. During the process, violent swings occur, collide with surrounding goods or injure ground staff, causing major safety accidents

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