Under-actuated hoisting equipment control system and method thereof

Abstract

The invention discloses an under-actuated hoisting equipment control system and a method thereof. The system comprises a hoisting scene information obtaining module, a swing angle obtaining module, a height obtaining module and a control module, and the hoisting scene information obtaining module, the swing angle obtaining module and the height obtaining module are all connected with the control module; and the control module controls a hoisting mechanism of hoisting equipment to act. When the system and the method are used, the three-prevention functions of inclined pulling and hoisting prevention, swinging prevention and collision prevention of the gantry crane hoisting equipment in the hoisting process can be achieved, so that the stability, the safety, the working efficiency and the controllability of production and transportation operation are improved, and the system and the method have the characteristics of being high in stability, safety, working efficiency and controllability.

Description

technical field [0001] The invention relates to the technical field of hoisting and hoisting, in particular to an underactuated hoisting and hoisting equipment control system and method thereof. Background technique [0002] Portal bridge cranes have been widely used in lifting and hoisting, industrial production, logistics turnover, port terminals, and railway transportation and other departments and places, and are indispensable large-scale equipment in modern industrial production and lifting transportation; [0003] An underactuated system refers to a system in which the number of independent control quantities is less than the degree of freedom of the system; traditional portal bridge cranes, because they use wire ropes for operations, belong to a type of typical underactuated equipment. Therefore, during the lifting process, Due to the effect of acceleration, deceleration or wind load, heavy objects will inevitably have swing problems, which may affect work efficiency ...

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Problems solved by technology

[0003] An underactuated system refers to a system in which the number of independent control quantities is less than the degree of freedom of the system; traditional portal bridge cranes, because they use wire ropes for operations, belong to a type of typical underactuated equipment. Therefore, during the lifting process, Due to the effect of acceleration, deceleration or wind load, heavy objects will inevitably have swing problems, which may affect work efficiency and reduce production efficiency, or bring safety hazards and affect personal safety; in addition, before lifting heavy objects, due to the hook and heavy There is a centering error in the center of gravity of the object, which will cause the phenomenon of crooked pulling and slanting, and also cause the swing after lifting; at the same time, the heavy object may collide with surrounding people or objects during transportation, causing safety accidents;

[0004] Therefore, the design of intelligent and efficient safety control systems for underactuated cranes has received more and more attention. However, in the current control methods for portal bridge cranes, there is no control system and control method that can be used for underactuated cranes. Portal bridge crane anti-skewing, anti-swing, anti-collision "three prevention" functions, so as to improve the stability, safety, work efficiency and controllability of production and transportation operations

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