Swing component sensing and autonomous anti-swing system of automobile crane and control method of swing component sensing and autonomous anti-swing system

Abstract

The invention discloses a swing component sensing and autonomous anti-swing system of an automobile crane and a control method of the swing component sensing and autonomous anti-swing system, and relates to the technical field of anti-swing of lifted objects of automobile cranes. And the execution module comprises a metering pump, a proportional multi-way reversing valve, a variable-amplitude oil cylinder, a hydraulic motor, a speed reducer and a PID (Proportion Integration Differentiation) execution controller which are arranged on the automobile crane. Through decomposition and conversion of complex swing, the controller module decomposes and converts the complex swing into two-dimensional swing components on xOz and yOz planes, an anti-swing strategy is suitable for various complex swing, a control system reads swing information on the planes and autonomously executes anti-swing control of the corresponding planes, and the anti-swing control precision is improved. And the variable-amplitude oil cylinder and the hydraulic motor are controlled to execute corresponding anti-swing actions and stage speed reduction anti-swing control, so that the working speed of the variable-amplitude oil cylinder is reduced by 50% stage by stage, the deviation distance of a hoisted object can be identified through action compensation anti-swing control, and a control system performs automatic compensation without depending on experience of a driver.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile crane anti-swing, in particular to a swing component perception and autonomous anti-swing system of an automobile crane and a control method thereof. BACKGROUND

[0002] The automobile crane is a kind of conventional engineering machinery, which is mainly used to complete the carrying work of various materials at different positions and different heights. However, in the actual application scene, under the influence of various factors, the swing phenomenon of the hoisted object during the lifting and carrying process exists a great safety hazard. Meanwhile, in the operation process of the automobile crane, the working conditions are different, the execution actions of the crane are also different, and the swing phenomenon is also complex and changeable, which needs to be controlled by multiple strategies to reduce the swing.

[0003] In the past work process, the swing condition is mainly judged by the driver's experience, and the driver actively controls the crane to reduce the swing. This anti-swing method excessively depends on the driver's experience, and cannot effectively reduce the swing. Even some young drivers lack experience and ignore the safety hazard caused by the swing in order to pursue efficiency. In addition, the complicated operation task aggravates the operation intensity of the driver, and the judgment ability of the driver to the swing will also become poor after being tired. Therefore, in order to reduce the swing of the hoisted object and improve the safety of the automobile crane, it is particularly important to develop the anti-swing control of the hoisted object under the complex working conditions of the automobile crane. SUMMARY

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a swing component perception and autonomous anti-swing system of an automobile crane, comprising a signal acquisition module, a controller module and an execution module, the execution module comprising a fixed displacement pump, a proportional multi-way directional valve, an amplitude cylinder, a hydraulic motor, a speed reducer and a PID execution controller arranged on the automobile crane; It also comprises an amplitude cylinder displacement sensor for detecting the working speed of the amplitude cylinder, an inclination sensor for detecting the amplitude angle of the boom, an absolute encoder for detecting the slewing speed of the crane, a load swing angle sensor for detecting the swing angle of the hoisted object, and an IMU integrated module for detecting the speed information, acceleration information and attitude information of the load; The signal acquisition module is electrically connected with the self-control system of the automobile crane, is used for acquiring the working speed of the amplitude cylinder, the amplitude angle of the boom, the slewing speed of the crane, the swing angle of the hoisted object, and the speed information, acceleration information and attitude information of the load, and transmitting the acquired data information to the controller module; the controller module is used for establishing a global coordinate system and a hoisted object coordinate system to analyze the swing condition of the hoisted object, and adjusting the valve opening of the proportional multi-way directional valve through the PID execution controller to perform autonomous anti-swing.

[0005] This invention also provides a control method for a swing component sensing and autonomous anti-sway system of a truck crane, which, using the swing component sensing and autonomous anti-sway system of a truck crane as described above, includes the following steps: Step 1: The signal acquisition module collects data from the IMU integrated module, the luffing cylinder displacement sensor, the tilt sensor, the absolute encoder, and the lifting device tilt sensor, and transmits the collected data to the controller module in real time. Step 2: The controller module identifies and reads the data information, establishes a global coordinate system and a suspended object coordinate system, analyzes and processes the swing information, and converts it into swing components in the xOz plane and yOz plane. The swing information includes swing angle, swing velocity, swing acceleration, and the coordinate values ​​of the origin of the suspended object coordinate system relative to the origin of the global coordinate system. Step 3: Based on the oscillation component information on the xOz plane and yOz plane, the controller module executes phased deceleration anti-sway control and motion compensation anti-sway control respectively, and sends execution signals to the execution module; Step 4: The execution module responds to the anti-sway signal.

[0006] As a preferred embodiment, the phased deceleration anti-sway control in step 3 specifically includes: When the controller module reads that the swing angle α in the xOz plane is ≥10° or the change in the horizontal coordinate of the suspended object is ΔX > 2000mm, it starts to execute the phased speed reduction anti-sway control. The working speed of the variable amplitude cylinder read when the phased speed reduction anti-sway control starts to be V1. First, reduce the working speed of the luffing cylinder to V2=V1×60% within 3s and maintain it for 2s. Then, send the speed regulation information to the PID controller. After receiving the speed regulation information, the PID controller converts it into valve opening information and acts on the proportional multi-way directional valve to adjust the valve opening and control the flow rate into the luffing cylinder, thereby adjusting the working speed of the luffing cylinder. Then increase the working speed of the luffing cylinder to V3=V1×80% within 2s, hold for 2s, then decrease the working speed of the luffing cylinder to V2=V1×60% within 2s, hold for 1s, and then continue to decrease the working speed of the luffing cylinder to V4=V1×50% within 2s and hold. When the change in the horizontal coordinate of the suspended object ΔX < 300mm or the swing angle α ≤ 2°, the stage speed reduction anti-sway control ends; otherwise, the working speed of the luffing cylinder will be recaptured, and the next cycle of stage speed reduction anti-sway control will be performed with the recaptured working speed of the luffing cylinder as V1.

[0007] As a preferred embodiment, the motion compensation anti-sway control in step 3 specifically includes: The controller module reads the oscillation velocity V on the yOz plane. m ≥150mm / s or Y0≥500mm or swing angle αm When the angle is ≥10°, motion compensation anti-sway control is executed, and the crane rotation speed V at the start of motion compensation anti-sway control is captured. r1 By sending speed regulation information to the PID actuator, the PID actuator receives the speed regulation information and converts it into valve opening information, which is then applied to the proportional multi-way directional valve to adjust the valve opening and control the flow rate into the hydraulic motor, thereby adjusting the speed of the hydraulic motor. First, increase the crane's rotation speed by 30% within 1 second, with the rotation tangent direction being the same as the swing speed direction. Maintain this crane rotation speed. When Y0 ≤ 50 mm and the swing angle α m When the angle is ≤3°, the rotation stops within 1 second, at which point one compensation cycle is completed; The controller module then reads subsequent swing information; when Y0 ≥ 100mm or V... m Secondary correction compensation is performed when the speed is ≥60mm / s, capturing the crane rotation speed V at the start of the secondary correction compensation. r2 Increase the crane's slewing speed by 30% within 1 second, with the slewing tangent direction being the same as the swing speed direction. Maintain this crane slewing speed when Y0 ≤ 50 mm and the swing angle α m When the angle is ≤3°, the rotation stops within 2 seconds, and the motion compensation anti-sway control ends.

[0008] Preferably, after 20 seconds of execution of the phased deceleration anti-sway control and the motion compensation anti-sway control, if the sway angle α or α m If the temperature increases by more than 3°, the system protection mechanism will be triggered. The controller module will send a slow stop message to the execution module. After receiving the slow stop message, the PID execution controller will act on the proportional multi-way directional valve, and the valve port will be closed within 3 seconds, thereby slowly stopping the operation. The controller module will send a stop warning signal to the instrument panel of the truck crane. If the phased deceleration anti-sway control and motion compensation anti-sway control are executed for 20 seconds, the sway angle α or α m If the angle does not increase by more than 3°, the phased deceleration anti-sway control and motion compensation anti-sway control will continue. If the phased deceleration anti-sway control and motion compensation anti-sway control have not stopped after 40 seconds and the sway angle α or α m If there is no change or the decrease is less than 3°, the controller module sends a warning signal to the truck crane's instrument panel indicating anti-sway failure; if after 40 seconds the phased speed reduction anti-sway control and motion compensation anti-sway control still have not stopped and the sway angle α or α m If the degree of reduction is greater than 3°, the phased deceleration anti-sway control and motion compensation anti-sway control will continue to be executed until the anti-sway ends.

[0009] The present invention has the following beneficial effects: This invention can decompose and transform complex oscillations. The controller module decomposes complex oscillations into two-dimensional oscillation components on the xOz and yOz planes, and the anti-sway strategy is applicable to various complex oscillations.

[0010] The control system of this invention reads the sway information on the plane, autonomously executes anti-sway control on the corresponding plane, and controls the luffing cylinder and hydraulic motor to perform corresponding anti-sway actions.

[0011] This invention provides a phased speed reduction anti-sway control for luffing cylinders, which reduces the working speed of the luffing cylinders by 50% in stages. This invention also provides motion compensation anti-sway control, which can identify the deviation distance of the suspended load and the control system can compensate autonomously without relying on the driver's experience, making it safe and reliable.

[0012] This invention provides a system safety protection mechanism that, when a negative effect occurs, sends a stop signal to the dashboard to alert the driver and control the truck crane to slowly stop operation. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the swing component sensing and autonomous anti-sway system for a truck crane according to the present invention. Figure 2 This is a schematic diagram of the anti-sway control steps of the present invention; Figure 3 This is a flowchart of the signal acquisition module of the present invention; Figure 4 This is a schematic diagram of the oscillation component analysis of the present invention; Figure 5 This is a flowchart of the deceleration and anti-sway control process for this invention. Figure 6 This is a flowchart of the motion compensation anti-sway control of the present invention; Figure 7 This is a schematic diagram illustrating the rotation compensation direction analysis of the present invention; Figure 8 This is a flowchart illustrating the anti-sway process for complex oscillations under combined working conditions according to the present invention. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0016] Embodiments of the present invention: likeFigures 1 to 3 As shown, this application provides a swing component sensing and autonomous anti-sway system for a truck crane, including a signal acquisition module, a controller module and an execution module. The execution module includes a fixed displacement pump, a proportional multi-way directional valve, a luffing cylinder, a hydraulic motor, a reducer and a PID execution controller installed on the truck crane. It also includes a luffing cylinder displacement sensor for detecting the working speed of the luffing cylinder (which calculates the working speed of the luffing cylinder by collecting the displacement of the luffing cylinder), an inclination sensor for detecting the luffing angle of the boom, an absolute encoder for detecting the slewing speed of the crane (which derives the slewing speed from the slewing angle), a spreader inclination sensor for detecting the swing angle of the load, and an IMU integrated module for detecting spreader speed, acceleration, and attitude information (the IMU integrated module consists of an accelerometer, a gyroscope, and a magnetometer, which can measure the angular velocity and acceleration of the object, and, combined with the data from the accelerometer, gyroscope, and magnetometer, can calculate the object's velocity, pitch angle, roll angle, and other attitude information). The signal acquisition module is electrically connected to the control system of the truck crane. It is used to collect the working speed of the luffing cylinder, the luffing angle of the boom, the slewing speed of the crane, the swing angle of the load, as well as the speed, acceleration and attitude information of the spreader. The acquired data is transmitted to the controller module in real time. The controller module is used to establish a global coordinate system and a load coordinate system to analyze the swing of the load. It also uses a PID controller to adjust the valve opening of the proportional multi-way directional valve to perform autonomous anti-swaying.

[0017] This embodiment also provides a control method for a swing component sensing and autonomous anti-sway system of a truck crane, which applies the swing component sensing and autonomous anti-sway system of the truck crane described above, and includes the following steps: Step 1: The signal acquisition module collects data from the IMU integrated module, the luffing cylinder displacement sensor, the tilt sensor, the absolute encoder, and the lifting device tilt sensor, and transmits the collected data to the controller module in real time. Step 2: The controller module identifies and reads the data information, establishes a global coordinate system and a suspended object coordinate system, analyzes and processes the complex swing information, and converts it into swing components in the xOz plane and yOz plane. The swing information includes swing angle, swing velocity, swing acceleration, and the coordinate values ​​of the origin of the suspended object coordinate system relative to the origin of the global coordinate system. like Figure 4As shown, the origin O of the global coordinate system is located at the hinge center between the boom and the upper turntable of the truck crane. The positive x-axis points horizontally from the origin O towards the hook, the positive z-axis is perpendicular to the truck platform and points towards the sky, and the positive y-axis is perpendicular to the xOz plane. The global coordinate system rotates as the upper turntable of the crane rotates, with the positive x-axis always pointing horizontally from the origin O towards the hook. The IMU integrated module is fixed to the lifting device, and its built-in coordinate system is the load coordinate system. The origin of the load coordinate system is the location of the IMU integrated module, which is used to locate the position of the load in the global coordinate system.

[0018] Step 3: Based on the oscillation component information on the xOz plane and yOz plane, the controller module executes phased deceleration anti-sway control and motion compensation anti-sway control respectively, and sends execution signals to the execution module; Step 4: The execution module responds to the anti-sway signal.

[0019] The controller module first analyzes the data transmitted by the signal acquisition module, accurately identifies the position of the suspended object based on the data from the IMU integrated module, and calculates the three-dimensional coordinates [x, y, z] of the suspended object's coordinate system relative to the global coordinate system using a transformation algorithm. Subsequently, the controller module mathematically models the acquired sway information of the suspended object, decomposing it into two-dimensional sway components on the xOz and yOz planes using a decomposition algorithm for subsequent motion control analysis. The sway angle is decomposed on the two planes (xOz and yOz planes), namely α and α'. m These are the projection angles onto the two planes (xOz plane and yOz plane); the oscillation velocity is decomposed into two planes, namely V and V0. m The direction and magnitude of the acceleration are projections onto the two planes (xOz plane and yOz plane), respectively; the oscillating acceleration is decomposed into two planes, namely a and a. m The direction and magnitude are projections onto the two planes (xOz plane and yOz plane), respectively.

[0020] For the sway component in the xOz plane, a phased speed reduction anti-sway control is used; for the sway component in the yOz plane, a motion compensation anti-sway control is used. The controller module autonomously executes the corresponding anti-sway control, and the execution module completes the autonomous coordinated control of the luffing cylinder and hydraulic motor, responding to the anti-sway action to eliminate the sway component in the plane, thereby eliminating the sway of the suspended load and achieving the purpose of anti-sway for the truck crane.

[0021] like Figure 4As shown in the left-hand working condition, the truck crane is in the luffing + hoisting stage. Under this condition, the sway information after sway decomposition mainly appears in the xOz plane. Taking this condition as an example, we will explain the anti-sway control on the xOz plane. The sway angle α is the sway angle of the sway decomposition on the xOz plane. Based on the luffing cylinder working speed, boom luffing angle (boom tilt angle θ1), crane slewing speed, load sway angle, and the speed, acceleration, and attitude information of the spreader collected by the signal acquisition module, the coordinate value of the load in the global coordinate system is calculated to perform staged speed reduction anti-sway control.

[0022] like Figure 4 , Figure 5 As shown, the staged speed reduction anti-sway control in step 3 above involves gradually reducing the working speed of the luffing cylinder during its operation to minimize swaying. The working speed of the luffing cylinder is divided into three stages. The speed control information is sent to the crane's PID controller. Upon receiving the speed control information, the PID controller converts it into a valve opening signal, controlling the valve opening of the proportional multi-way directional valve to adjust the luffing cylinder's working speed in stages, reducing it by 50%. This ensures the crane's boom is in operation throughout its entire stroke, suppressing swaying while minimizing impact on work efficiency. Specifically: When the controller module reads that the swing angle α in the xOz plane is ≥10° or the change in the horizontal coordinate of the suspended object is ΔX > 2000mm, it starts to execute the phased speed reduction anti-sway control. The working speed of the variable amplitude cylinder read when the phased speed reduction anti-sway control starts to be V1. First, reduce the working speed of the luffing cylinder to V2=V1×60% within 3s and maintain it for 2s. The high-pressure oil output by the fixed displacement pump enters the luffing cylinder through the proportional multi-way directional valve. By sending the speed regulation information to the PID actuator, the PID actuator receives the speed regulation information and converts it into valve opening information, which acts on the proportional multi-way directional valve to adjust the valve opening and control the flow rate into the luffing cylinder, thereby adjusting the working speed of the luffing cylinder. To avoid dynamic imbalance of the load caused by sudden deceleration, the working speed of the luffing cylinder is increased to V3=V1×80% within 2 seconds and held for 2 seconds. Then, the working speed of the luffing cylinder is reduced to V2=V1×60% within 2 seconds and held for 1 second. Then, the working speed of the luffing cylinder is reduced to V4=V1×50% within 2 seconds and held. When the change in the horizontal coordinate of the suspended object ΔX < 300mm or the swing angle α ≤ 2°, the stage speed reduction anti-sway control ends; otherwise, the working speed of the luffing cylinder will be recaptured, and the next cycle of stage speed reduction anti-sway control will be performed with the recaptured working speed of the luffing cylinder as V1.

[0023] In addition, it should be noted that during the speed change process of V1—V2—V3—V2—V4, if the driver finds that the swing angle is getting smaller, or if the situation on site no longer affects safety, the driver can send a stop signal to the controller module on the control handle of the truck crane. After receiving the signal, the control system will read the swing angle information of the hoisted object. When the change in the horizontal coordinate of the hoisted object ΔX < 1000mm or the swing angle α ≤ 5°, the current speed will be maintained for 5 seconds, and then the phase deceleration anti-swing control will end.

[0024] like Figure 4 As shown in the right-hand side of the diagram, the truck crane is in the hoisting and slewing phase. Under this condition, the sway information after sway decomposition is significantly amplituded in the yOz plane. Therefore, this condition is used as an example to illustrate the anti-sway strategy in the yOz plane. When the upper vehicle turntable rotates 90°, the sway analysis in the yOz plane shows that a sway angle α will appear in the yOz plane during the rotation of the upper vehicle turntable. m Based on the collected information on the spreader's speed, acceleration, boom luffing angle (tilt angle), and the coordinates of the load in the global coordinate system, the distance Y0 of the load deviating from the centerline can be obtained (Y0 is the distance from the origin of the load's coordinate system to the xOz plane calculated by the control system, i.e., |y|). This distance is then used for motion compensation and anti-sway control to reduce the sway angle α. m The purpose of Y0.

[0025] like Figure 4 and Figure 6 As shown, the motion compensation anti-sway control in step 3 above is a sway control strategy for the yOz plane. Speed ​​regulation information is sent to the crane's PID controller. Upon receiving the speed regulation information, the PID controller converts it into a valve opening signal, controlling the valve opening of the proportional multi-way directional valve to control the flow rate into the hydraulic motor. By accelerating the rotation in the same direction, the sway angle is reduced. After completing one motion compensation step, a second correction compensation is performed, specifically: The controller module reads the oscillation velocity V on the yOz plane. m ≥150mm / s or Y0≥500mm or swing angle α m When the angle is ≥10°, motion compensation anti-sway control is executed, and the crane rotation speed V at the start of motion compensation anti-sway control is captured. r1 The high-pressure oil output by the fixed displacement pump enters the hydraulic motor through the proportional multi-way directional valve. The hydraulic motor is reduced in speed by the reducer and finally acts on the upper body turntable. By sending the speed regulation information to the PID actuator, the PID actuator receives the speed regulation information and converts it into valve opening information, which acts on the proportional multi-way directional valve to adjust the valve opening and control the flow into the hydraulic motor, thereby adjusting the speed of the hydraulic motor. First, increase the crane's rotation speed by 30% within 1 second, with the rotation tangent direction being the same as the swing speed direction. Maintain this crane rotation speed and swing angle α. m Both Y0 and Y0 will decrease when Y0≤50mm and the swing angle α m When the angle is ≤3°, the rotation stops within 1 second, at which point one compensation cycle is completed; To prevent incomplete elimination of oscillation after a single compensation, the controller module reads subsequent oscillation information. When Y0 ≥ 100mm or V... m Secondary correction compensation is performed when the speed is ≥60mm / s, capturing the crane rotation speed V at the start of the secondary correction compensation. r2 Increase the crane's slewing speed by 30% within 1 second, with the slewing tangent direction being the same as the swing speed direction. Maintain this crane slewing speed when Y0 ≤ 50 mm and the swing angle α m When the angle is ≤3°, the rotation stops within 2 seconds, and the motion compensation anti-sway control ends.

[0026] like Figure 7 As shown, the motion compensation anti-sway control is activated at different sway stages, with different compensation directions. From the driver's perspective, the specific motion compensation directions are: When the swing is in the phase from the right high point to the lowest point, the swing speed V m The direction is tangential to the lower left, and the speed will gradually increase. At this point, it is necessary to turn left to compensate. When the swing is at its lowest point → left-high phase, the swing speed V m The direction is tangential to the upper left, and the speed will gradually decrease. At this point, it is necessary to turn left to compensate. When the swing is in the phase from the highest point on the left to the lowest point, the swing speed V m The direction is tangentially to the lower right, and the speed will gradually increase. At this point, it is necessary to turn right to compensate. When the swing is at its lowest point → right-high phase, the swing speed V m The direction is tangential to the upper right, and the speed will gradually decrease. At this point, it is necessary to turn to the right to compensate.

[0027] like Figure 8 As shown, the control system uses a combination of phased deceleration anti-sway control and motion compensation anti-sway control. Due to the complex swaying behavior of the truck crane during operation, if the swaying angle increases instead of the expected effect after the above two strategies are implemented, the system's safety protection mechanism will be triggered, controlling the truck crane to enter a slow stop operation process, as detailed below: For complex oscillations in multiple dimensions and angles under combined working conditions, the controller module decomposes the complex oscillations into the xOz plane and the yOz plane based on the oscillation information transmitted by the signal acquisition module. Oscillation angles will appear in both planes. Two anti-sway controls work simultaneously, and the execution module responds with the corresponding anti-sway action. After the phase deceleration anti-sway control and motion compensation anti-sway control have been executed for 20 seconds, if the sway angle α or α m If the temperature increases by more than 3°, the system protection mechanism will be triggered. The controller module will send a slow stop message to the execution module. After receiving the slow stop message, the PID execution controller will act on the proportional multi-way directional valve, and the valve port will be closed within 3 seconds, thereby slowly stopping the operation. The controller module will send a stop warning signal to the instrument panel of the truck crane. If the phased deceleration anti-sway control and motion compensation anti-sway control are executed for 20 seconds, the sway angle α or α m If the angle does not increase by more than 3°, the phased deceleration anti-sway control and motion compensation anti-sway control will continue to be implemented to ensure that the dynamic imbalance of the suspended load is not caused by the sudden intervention of the anti-sway action. If the phased deceleration anti-sway control and motion compensation anti-sway control have not stopped after 40 seconds and the swing angle α or α' is still not stopped, the suspension will continue. m If there is no change or the decrease is less than 3°, the controller module sends a warning signal to the truck crane's instrument panel indicating anti-sway failure; if after 40 seconds the phased speed reduction anti-sway control and motion compensation anti-sway control still have not stopped and the sway angle α or α m If the degree of reduction is greater than 3°, the phased deceleration anti-sway control and motion compensation anti-sway control will continue to be executed until the anti-sway ends.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A swing component sensing and autonomous anti-sway system for a truck crane, characterized in that, It includes a signal acquisition module, a controller module, and an execution module. The execution module includes a fixed displacement pump, a proportional multi-way directional valve, a luffing cylinder, a hydraulic motor, a reducer, and a PID execution controller installed on the truck crane. It also includes a luffing cylinder displacement sensor for detecting the working speed of the luffing cylinder, an inclination sensor for detecting the luffing angle of the boom, an absolute encoder for detecting the slewing speed of the crane, a spreader inclination sensor for detecting the swing angle of the load, and an IMU integrated module for detecting spreader speed information, acceleration information and attitude information. The signal acquisition module is electrically connected to the control system of the truck crane. It is used to collect the working speed of the luffing cylinder, the luffing angle of the boom, the slewing speed of the crane, the swing angle of the load, as well as the speed, acceleration and attitude information of the spreader. The acquired data is transmitted to the controller module. The controller module is used to establish a global coordinate system and a load coordinate system to analyze the swing of the load. It also uses a PID controller to adjust the valve opening of the proportional multi-way directional valve for autonomous anti-swaying.

2. A control method for a swing component sensing and autonomous anti-sway system of a truck crane, characterized in that, The application of the swing component sensing and autonomous anti-sway system for a truck crane as described in claim 1 includes the following steps: Step 1: The signal acquisition module collects data from the IMU integrated module, the luffing cylinder displacement sensor, the tilt sensor, the absolute encoder, and the lifting device tilt sensor, and transmits the collected data to the controller module in real time. Step 2: The controller module identifies and reads the data information, establishes a global coordinate system and a suspended object coordinate system, analyzes and processes the swing information, and converts it into swing components in the xOz plane and yOz plane. The swing information includes swing angle, swing velocity, swing acceleration, and the coordinate values ​​of the origin of the suspended object coordinate system relative to the origin of the global coordinate system. Step 3: Based on the oscillation component information on the xOz plane and yOz plane, the controller module executes phased deceleration anti-sway control and motion compensation anti-sway control respectively, and sends execution signals to the execution module; Step 4: The execution module responds to the anti-sway signal.

3. The control method for the swing component sensing and autonomous anti-sway system of a truck crane according to claim 2, characterized in that, The phased deceleration anti-sway control in step 3 is specifically as follows: When the controller module reads that the swing angle α in the xOz plane is ≥10° or the change in the horizontal coordinate of the suspended object is ΔX > 2000mm, it starts to execute the phased speed reduction anti-sway control. The working speed of the variable amplitude cylinder read when the phased speed reduction anti-sway control starts to be V1. First, reduce the working speed of the luffing cylinder to V2=V1×60% within 3s, maintain it for 2s, and send the speed regulation information to the PID controller. After receiving the speed regulation information, the PID controller converts it into valve opening information, acts on the proportional multi-way directional valve, adjusts the valve opening, controls the flow into the luffing cylinder, and thus adjusts the working speed of the luffing cylinder. Then increase the working speed of the luffing cylinder to V3=V1×80% within 2s, hold for 2s, then decrease the working speed of the luffing cylinder to V2=V1×60% within 2s, hold for 1s, and then continue to decrease the working speed of the luffing cylinder to V4=V1×50% within 2s and hold. When the change in the horizontal coordinate of the suspended object ΔX < 300mm or the swing angle α ≤ 2°, the stage speed reduction anti-sway control ends; otherwise, the working speed of the luffing cylinder will be recaptured, and the next cycle of stage speed reduction anti-sway control will be performed with the recaptured working speed of the luffing cylinder as V1.

4. The control method for the swing component sensing and autonomous anti-sway system of a truck crane according to claim 3, characterized in that, The motion compensation anti-sway control in step 3 is specifically as follows: The controller module reads the oscillation velocity V on the yOz plane. m ≥150mm / s or the distance Y0 of the suspended object deviating from the center line ≥500mm or the swing angle α m When the angle is ≥10°, motion compensation anti-sway control is executed, and the crane rotation speed V at the start of motion compensation anti-sway control is captured. r1 By sending speed regulation information to the PID actuator, the PID actuator receives the speed regulation information and converts it into valve opening information, which is then applied to the proportional multi-way directional valve to adjust the valve opening and control the flow rate into the hydraulic motor, thereby adjusting the speed of the hydraulic motor. First, increase the crane's rotation speed by 30% within 1 second, with the rotation tangent direction being the same as the swing speed direction. Maintain this crane rotation speed. When Y0 ≤ 50 mm and the swing angle α m When the angle is ≤3°, the rotation stops within 1 second, at which point one compensation cycle is completed; The controller module then reads subsequent swing information; when Y0 ≥ 100mm or V... m Secondary correction compensation is performed when the speed is ≥60mm / s, capturing the crane rotation speed V at the start of the secondary correction compensation. r2 Increase the crane's slewing speed by 30% within 1 second, with the slewing tangent direction being the same as the swing speed direction. Maintain this crane slewing speed when Y0 ≤ 50 mm and the swing angle α m When the angle is ≤3°, the rotation stops within 2 seconds, and the motion compensation anti-sway control ends.

5. The control method for the swing component sensing and autonomous anti-sway system of a truck crane according to claim 4, characterized in that, After the phase deceleration anti-sway control and motion compensation anti-sway control have been executed for 20 seconds, if the sway angle α or α m If the temperature increases by more than 3°, the system protection mechanism will be triggered. The controller module will send a slow stop message to the execution module. After receiving the slow stop message, the PID execution controller will act on the proportional multi-way directional valve, and the valve port will be closed within 3 seconds, thereby slowly stopping the operation. The controller module will send a stop warning signal to the instrument panel of the truck crane. If the phased deceleration anti-sway control and motion compensation anti-sway control are executed for 20 seconds, the sway angle α or α m If the angle does not increase by more than 3°, the phased deceleration anti-sway control and motion compensation anti-sway control will continue. If the phased deceleration anti-sway control and motion compensation anti-sway control have not stopped after 40 seconds and the sway angle α or α m If there is no change or the decrease is less than 3°, the controller module sends a warning signal to the truck crane's instrument panel indicating anti-sway failure; if after 40 seconds the phased speed reduction anti-sway control and motion compensation anti-sway control still have not stopped and the sway angle α or α m If the degree of reduction is greater than 3°, the phased deceleration anti-sway control and motion compensation anti-sway control will continue to be executed until the anti-sway ends.

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