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Double-pendulum type slewing crane trajectory planning control method and system considering state constraints

A technology of state constraints and trajectory planning, applied to cranes, constraint-based CAD, load suspension components, etc., can solve problems such as the state constraints of the drive motor that does not consider the boom luffing motion

Active Publication Date: 2021-05-28
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

That is, the angular acceleration and angular velocity of the drive motor for jib luffing motion should meet the constraint conditions of the state quantity, and the prior art does not consider the state constraints of the jib luffing motion drive motor

Method used

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  • Double-pendulum type slewing crane trajectory planning control method and system considering state constraints
  • Double-pendulum type slewing crane trajectory planning control method and system considering state constraints
  • Double-pendulum type slewing crane trajectory planning control method and system considering state constraints

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Embodiment 1

[0163] The method in Embodiment 1 can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software module may be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware. To avoid repetition, no detailed description is given here.

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Abstract

The invention provides a double-pendulum type slewing crane trajectory planning control method and system considering state constraints. The method comprises the steps of building a crane kinetic model, carrying out the analysis, and determining the state quantity constraint condition of a drive motor; based on the state quantity constraint condition, determining a positioning angular acceleration trajectory by using a trapezoidal function with a preset duration; according to a nonlinear coupling relation among a lifting arm pitching motion angle, lifting hook swinging and load swinging, determining an anti-swinging angular acceleration trajectory; and determining a lifting arm amplitude-variable motion angular acceleration trajectory by combining the positioning angular acceleration trajectory and the anti-swing angular acceleration trajectory, so that accurate positioning and anti-swing control of a crane are achieved. The scheme shows more excellent transient performance on the system state constraints and positioning anti-swing control.

Description

technical field [0001] The disclosure belongs to the field of electromechanical system control, and in particular relates to a trajectory planning control method and system for a double-pendulum slewing crane considering state constraints. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] Slewing crane is a kind of engineering machinery widely used in construction sites, ports, logistics and storage, etc. to lift goods. Due to the characteristics of its own mechanical structure, the slewing crane is a typical "under-actuated" electromechanical system that controls more with less. During the hoisting process, due to the inertial effect, the load will sway and oscillate, which not only seriously affects the efficiency of hoisting operations and positioning accuracy, damages the hoisted goods, and may even cause production safety accidents. ...

Claims

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Application Information

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IPC IPC(8): B66C13/22B66C23/82B66C23/84G06F30/17G06F30/20G06F111/10G06F111/04G06F119/14
CPCB66C13/22B66C23/82B66C23/84G06F30/17G06F30/20G06F2111/04G06F2111/10G06F2119/14
Inventor 马昕李刚李贻斌
Owner SHANDONG UNIV
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