An underactuated hoisting equipment control system and method thereof

Abstract

The invention discloses an underactuated hoisting and hoisting equipment control system and a method thereof. The system comprises a hoisting scene information acquisition module, a swing angle acquisition module, a height acquisition module and a control module, the hoisting scene information acquisition module, the swing angle The acquisition module and the height acquisition module are both connected to the control module, and the control module controls the action of the hoisting mechanism of the hoisting and hoisting equipment; when the system and method are used, it can realize the anti-skewing of the door-bridge hoisting and hoisting equipment during the hoisting process The "three defenses" functions of pulling and tilting, anti-swing and anti-collision, thereby improving the stability, safety, work efficiency and controllability of production and transportation operations. Features.

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 a method thereof. Background technique [0002] Portal cranes have been widely used in hoisting, industrial production, logistics turnover, port terminals, and railway transportation and other departments and places, and are essential large-scale equipment in modern industrial production and hoisting and transportation; [0003] An underactuated system refers to a system in which the number of independent control quantities is less than the system degree of freedom; traditional portal bridge cranes, because they use steel wire ropes for operation, belong to a type of typical underactuated equipment. Due to acceleration and deceleration or wind load, heavy objects will inevitably have swing problems, which will affect work efficiency and reduce production efficiency, and bring safety hazards and affe...

AI Technical Summary

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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