Bridge crane anti-swing positioning subsection control method based on energy coupling

Abstract

The invention provides a bridge crane anti-swing positioning subsection control method based on energy coupling, and aims to solve the problem that traditional energy control cannot meet requirements in occasions with high anti-swing requirements, and the problems of buffeting and slow response speed in positioning and swing elimination of a bridge crane controlled by traditional energy coupling. On the basis of traditional energy control, trolley acceleration and deceleration information is added, meanwhile, a segmented control method is introduced to add the trolley acceleration and deceleration information in an anti-swing stage to construct a Lyapunov function, and a controller is designed through the Lyapunov method. According to the bridge crane anti-swing positioning subsection control method based on energy coupling, the anti-swing performance of the bridge crane is improved; the method is compared with enhanced coupling control and energy coupling control, and results are shown in Figure 2 to Figure 9; and according to the method, the load swing angle can be effectively restrained in the operation process of the bridge crane, accurate positioning of a trolley is achieved, meanwhile, the anti-swing performance is improved, and load residual swing is eliminated.

Description

technical field [0001] The invention belongs to the technical field of bridge crane control, and in particular relates to an energy coupling-based anti-swing positioning segmental control method for bridge cranes. Background technique [0002] As an important short-distance site lifting and transportation machinery, bridge cranes are widely used in the fields of cargo handling in workshops, warehouse scheduling, manufacturing and assembly, and play an important role in the construction of the national economy. During the transportation of the bridge crane, the load swing caused by the change of the acceleration of the trolley will reduce the transportation efficiency of the bridge crane, accompanied by potential safety hazards, which greatly affects the safety of production operations. Therefore, the anti-swing performance of the bridge crane must be continuously improved and optimized to meet the needs of high-speed, safe and stable production and construction. [0003] At...

AI Technical Summary

Problems solved by technology

The present invention verifies the theoretical bridge crane control method to judge whether the control performance is good or bad, and further applies it to the bridge crane system to better replace the experienced operation of skilled workers, continuously reduce the error caused by human factors, and solve the problem of manual control The method can not cope with the shortage of harsh environment, improve the operation efficiency and stability

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