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Concrete dam cable crane warehousing track planning and control method

A trajectory planning and control method technology, applied in adaptive control, general control system, non-electric variable control, etc., can solve problems such as high operating frequency, low efficiency, and limited construction environment

Active Publication Date: 2021-03-19
CHINA THREE GORGES UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a method for planning and controlling the trajectory of the concrete dam cable machine entering the warehouse, which is used to solve the problem that the operation of the cable machine in the existing concrete dam construction is limited by the harsh construction environment, the operation process is complicated, and the operation frequency is relatively high. High, many potential safety hazards, and low efficiency

Method used

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  • Concrete dam cable crane warehousing track planning and control method
  • Concrete dam cable crane warehousing track planning and control method
  • Concrete dam cable crane warehousing track planning and control method

Examples

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Effect test

Embodiment 1

[0045] Such as figure 1 Among them, a concrete dam cable machine entry trajectory planning and control method, including the following steps:

[0046] S1. Determine the starting point and end point of the cable machine according to the location of concrete pouring and the location of the material supply point. The starting point is the installation point of the cable machine A(x a ,y a ,z z ); the end point is the cable machine unloading position B(x b ,y b ,z b );

[0047] S2, planning the path of cable machine transfer and transportation into the warehouse:

[0048] S 1 = S 1 (x 1 ,y 1 ,z 1 );

[0049] S3, install a positioning system and a wireless transceiver device on the cable crane tank; the positioning system locates the real-time coordinates (x, y, z) of the cable crane tank, and transmits them to the cable machine control terminal through the wireless transceiver device at regular intervals t The coordinate value of the hanging tank of the cable machine,...

Embodiment 2

[0078] Such as Figure 2 ~ Figure 4 In this paper, the above-mentioned cable machine path control process is simplified as a two-dimensional plane control problem, assuming that the cable machine moves on the two-dimensional plane XOY, the starting point of the movement is A(0,40), the end point is B(20,120), the cable machine motion The highest point is H(12,180), and the trajectory line of the cable machine entering the warehouse is planned based on this, and the trajectory line of the cable machine entering the warehouse is regarded as a function of time t. The planning results are as follows:

[0079] S 1 =-(t-12) 2 +180;

[0080] where S 1 That is the ideal trajectory of the cable machine.

[0081] Suppose the actual running track equation of the cable machine is S=S(t), and the actual running track of the cable machine is also a function of time, then the position tracking error is: e(t)=S(t)-S 1 (t)=S(t)+(t-12) 2 -180; speed tracking error is:

[0082] The slid...

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Abstract

The invention provides a concrete dam cable crane warehousing track planning and control method, which comprises the steps: determining three-dimensional space coordinates of a starting point and an end point of a cable crane hanging cage through a cable crane platform feeding point position and a pouring bin concrete discharging point position, and planning a dispatching warehousing three-dimensional space optimal path of the cable crane hanging cage ; then, installing a space positioning and tracking system on a cable crane trolley and the hanging cage, and acquiring the space real-time positions of the cable crane trolley and the hanging cage in real time; analyzing and comparing the relationship between the planned trajectory and the actually measured trajectory in real time, calculating trolley control parameters for the deviated trajectory by using a sliding mode control theory, and dynamically adjusting the trolley operation mode, thereby realizing the control of the cable cranewarehousing trajectory; the problems that in existing concrete dam construction, cable crane operation is limited by a severe construction environment, the operation process is complex, the operationfrequency is high, many potential safety hazards exist, and the efficiency is low are solved, and the beneficial effects of being intelligent, efficient and safe are achieved.

Description

Technical field: [0001] The invention belongs to the technical field of concrete arch dam construction, and in particular relates to a method for planning and controlling the storage trajectory of a concrete dam cable machine. Background technique: [0002] The cable crane is flexible, has a large lifting capacity, a wide working area, and can serve the entire construction cycle. It has been widely used in many hydropower projects at home and abroad, especially in the construction of high arch dams. However, the current operation mode of the cable machine is controlled by the operator on the cable machine operating platform. Due to the complex working behavior and operation control mode of the cable machine, and the high arch dams are mostly located in high mountains and valleys, the environmental conditions are harsh, and the construction site is narrow. Due to frequent construction activities, many space crossing operations, and changeable meteorological environment, there...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/04G06Q10/04
CPCG05D1/0214G05B13/042G06Q10/047
Inventor 胡超陈廷才周宜红徐盛
Owner CHINA THREE GORGES UNIV
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