Anti-swing control method and travelling crane

Abstract

The invention provides an anti-swing control method and a travelling crane. The anti-swing control method comprises the steps that a cart or a trolley is started, and a starting acceleration pulse A0 and a driving anti-swing acceleration pulse A1 are determined; a theoretical driving swing angle theta1 is calculated; a first actual swing angle theta2 is measured, a disturbance swing angle theta3 is calculated and whether the disturbance swing angle theta3 is larger than the minimum disturbance swing angle or not is judged, and if not, the cart or the trolley is controlled to work according to the driving anti-swing acceleration pulse A1; if yes, the cart or the trolley is controlled to work according to the driving anti-swing acceleration pulse A1, a first disturbance anti-swing acceleration pulse A2 is calculated, and then the cart or the trolley is controlled to work according to the first disturbance anti-swing acceleration pulse A2; in the constant speed stage, a second actual swing angle theta3 is measured and whether the second actual swing angle theta3 is larger than the minimum disturbance swing angle or not is judged, if yes, a second disturbance anti-swing acceleration pulse A3 is calculated, and the cart or the trolley is controlled to work according to the second disturbance anti-swing acceleration pulse A3; and the steps of the constant speed stage are repeated. According to the anti-swing control method, swing closed-loop control of a lifting hook can be achieved, the control precision is high, and the working efficiency of the travelling crane is high.

Description

Technical field [0001] The present invention relates to the field of driving control, and more particularly to a method of anti-swing control and a driving. Background technique [0002] Driving is an important logistics and transportation equipment, currently in hand-manual operation, such as cracking or electromagnetic hanging, during handling materials, the hormifier occurs, resulting in low work efficiency, and there is a certain Security risks. [0003] At present, the market is more commonly used by swing technology that is electronic open-loop anti-swing technology, which focuses on the optimization design of the control algorithm on the drive inverter of the driving equipment, but the calculation of the control elements. Most of them use indirect calculations or entered a given method, such as actual length, actual swing angle, etc. The bias of driving in the actual engineering is a comprehensive process, including not only their own swing, but also causes multiple factor...

AI Technical Summary

Problems solved by technology

[0004] The object of the present invention is to provide an anti-sway control method and driving, to solve the problem that the anti-sway...

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