Spreader anti-sway control method, device, equipment and crane

Abstract

The present application provides a method, device, equipment and crane for controlling the anti-sway of a sling, the method comprising: calculating the swing angle amplitude of the sling according to the swing angle of the sling, the angular velocity of the sling and the swing length of the sling; comparing the swing angle amplitude with a preset swing amplitude threshold to determine the anti-sway control mode; determining the anti-sway speed of the trolley according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode; and controlling the operation of the trolley according to the anti-sway speed of the trolley. By adopting the technical solution of the present application, the running speed of the trolley can be automatically controlled according to the swing angle amplitude, and the swing of the sling can be eliminated by automatically adjusting the running speed of the trolley when the sling is swinging, thereby realizing automatic anti-sway, ensuring the anti-sway effect of the sling, and improving the anti-sway control efficiency of the sling.

Description

Technical Field

[0001] The present application relates to the technical field of anti-sway control, and in particular to a method, device, equipment and crane for anti-sway control of a hoisting device. Background Art

[0002] During the actual operation of the quay crane, due to driver operation or system process interruption, the spreader will inevitably shake after the trolley stops running. Therefore, in order to improve the safety during the actual operation of the quay crane, it is particularly important to perform anti-sway control on the spreader after the trolley stops running.

[0003] At present, the quay crane's following vehicle sway control is mostly achieved by the driver manually operating the trolley. The control effect depends on the driver's operating experience, and the driver cannot handle the problem of rapid trolley sway control in the event of an interruption in automatic operation in the first place. For example, the dispatching system cancels the command during the movement or the system detects abnormal situations such as a person intruding. As a result, the anti-sway effect of the spreader is unstable, and the automatic anti-sway of the spreader cannot be achieved, affecting the anti-sway control efficiency of the spreader. Summary of the invention

[0004] In view of this, the embodiments of the present application are committed to providing a sling anti-sway control method, device, equipment and crane to solve the problem in the prior art that the anti-sway effect of the sling is unstable, the automatic anti-sway of the sling cannot be achieved, and the anti-sway control efficiency of the sling is affected.

[0005] On one hand, the present application provides a method for controlling the anti-sway of a sling, comprising:

[0006] Calculate the swing angle amplitude of the spreader according to the swing angle, angular velocity and swing length of the spreader;

[0007] Comparing the swing angle amplitude with a preset swing amplitude threshold value to determine an anti-sway control mode;

[0008] Determining the anti-sway speed of the trolley according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode;

[0009] The operation of the trolley is controlled according to the trolley anti-sway speed.

[0010] Optionally, the calculating the swing angle amplitude of the spreader according to the swing angle of the spreader, the angular velocity of the spreader and the swing length of the spreader comprises:

[0011] The square root of the ratio between the gravitational acceleration and the pendulum length is taken as the angular frequency of the spreader;

[0012] The swing angle amplitude of the hanger is calculated according to the swing angle, the angular velocity and the angular frequency and in accordance with a preset swing amplitude calculation rule.

[0013] Optionally, comparing the swing angle amplitude with a preset swing amplitude threshold to determine an anti-sway control mode includes:

[0014] Comparing the swing angle amplitude with a preset swing amplitude threshold to determine the swing amplitude stage of the spreader;

[0015] Obtaining an anti-sway control method corresponding to the swing amplitude stage;

[0016] The swing amplitude stage includes a first swing amplitude stage and a second swing amplitude stage. The anti-sway control mode corresponding to the first swing amplitude stage is feedback gain anti-sway control, and the anti-sway control mode corresponding to the second swing amplitude stage is damping anti-sway control.

[0017] Optionally, the swing threshold includes: a first swing threshold and a second swing threshold, and the first swing threshold is greater than the second swing threshold;

[0018] Comparing the swing angle amplitude with a preset swing amplitude threshold to determine the swing amplitude stage of the spreader includes:

[0019] Determining whether the swing angle amplitude is greater than the first swing amplitude threshold;

[0020] If the swing angle amplitude is greater than the first swing amplitude threshold, determining that the swing amplitude stage of the spreader is the first swing amplitude stage;

[0021] If the swing angle amplitude is not greater than the first swing amplitude threshold, determining whether the swing angle amplitude is greater than the second swing amplitude threshold;

[0022] If the swing angle amplitude is greater than the second swing amplitude threshold, it is determined that the swing amplitude stage of the hanger is the second swing amplitude stage.

[0023] Optionally, if the anti-sway control mode is feedback gain anti-sway control, the anti-sway control information includes: the pendulum length, the pendulum angle, the angular velocity, a preset maximum acceleration of the trolley, a preset maximum speed of the trolley, a preset control parameter and a pre-constructed system state space equation;

[0024] If the anti-sway control mode is damping anti-sway control, the anti-sway control information includes: the pendulum length, the swing angle amplitude, a preset fixed damping ratio and a preset maximum speed of the trolley.

[0025] Optionally, determining the anti-sway speed of the vehicle according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode includes:

[0026] If the anti-sway control mode is feedback gain anti-sway control, a feedback control gain is calculated according to the system state space equation, the pendulum length, the pendulum angle, the angular velocity and the control parameter;

[0027] According to the preset acceleration calculation rule and the maximum acceleration of the car, the output acceleration of the car is determined according to the feedback control gain, the swing angle and the angular velocity;

[0028] According to the maximum speed of the trolley, the output acceleration is subjected to integral limiting processing to obtain the trolley anti-sway speed.

[0029] Optionally, determining the output acceleration of the car according to the preset acceleration calculation rule and the maximum acceleration of the car, according to the feedback control gain, the swing angle and the angular velocity, includes:

[0030] According to the preset acceleration calculation rule, the theoretical acceleration of the car is calculated according to the feedback control gain, the swing angle and the angular velocity;

[0031] The theoretical acceleration is limited according to the maximum acceleration of the car to obtain the output acceleration of the car.

[0032] Optionally, determining the anti-sway speed of the vehicle according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode includes:

[0033] If the anti-sway control mode is damping anti-sway control, the theoretical damping ratio is calculated according to the preset damping ratio calculation rule, the pendulum length, the swing angle amplitude and the maximum speed of the trolley;

[0034] taking the maximum value of the theoretical damping ratio and the fixed damping ratio as the target damping ratio;

[0035] According to the preset damping ratio-speed calculation rule, the anti-sway speed of the trolley is calculated according to the swing angle amplitude, the swing length and the target damping ratio.

[0036] Optionally, the preset swing amplitude calculation rule is:

[0037]

[0038] Among them, θ A represents the swing angle amplitude, θ represents the swing angle, represents the angular velocity, and ω represents the angular frequency.

[0039] Optionally, the preset damping ratio calculation rule is:

[0040]

[0041] The preset damping ratio-speed calculation rule is:

[0042]

[0043] Where ζ1 represents the theoretical damping ratio, V max represents the maximum speed of the car, θ A represents the swing angle, l represents the pendulum length, g represents the acceleration due to gravity, V M represents the anti-sway speed of the car, and ζ represents the target damping ratio.

[0044] According to another aspect of the present application, a sling anti-sway control device is provided, comprising:

[0045] A swing amplitude calculation module is used to calculate the swing angle amplitude of the spreader according to the swing angle of the spreader, the angular velocity of the spreader and the swing length of the spreader;

[0046] An anti-sway mode determination module is used to compare the swing angle amplitude with a preset swing amplitude threshold to determine an anti-sway control mode;

[0047] An anti-sway speed determination module, used to determine the anti-sway speed of the trolley according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode;

[0048] The trolley control module is used to control the operation of the trolley according to the anti-sway speed of the trolley.

[0049] According to another aspect of the present application, there is provided a sling anti-sway control device, comprising: a memory and a processor;

[0050] Wherein, the memory is connected to the processor and is used to store programs;

[0051] The processor is used to implement the above-mentioned sling anti-sway control method by running the program in the memory.

[0052] According to another aspect of the present application, a crane is provided, comprising: the above-mentioned spreader anti-sway control device.

[0053] According to the anti-sway control method for the sling provided in the present application, the swing angle amplitude of the sling is calculated according to the swing angle of the sling, the angular velocity of the sling and the swing length of the sling; the anti-sway control mode is determined by comparing the swing angle amplitude with a preset swing amplitude threshold; the anti-sway speed of the trolley is determined according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode; the operation of the trolley is controlled according to the anti-sway speed of the trolley. By adopting the technical solution of the present application, the running speed of the trolley can be automatically controlled according to the swing angle amplitude, and the swing of the sling can be eliminated by automatically adjusting the running speed of the trolley when the sling is swinging, thereby realizing automatic anti-sway, ensuring the anti-sway effect of the sling, and improving the anti-sway control efficiency of the sling. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a flow chart of a method for controlling anti-sway of a sling provided in an embodiment of the present application.

[0055] Figure 2 It is a schematic diagram of a processing flow for determining the swing amplitude stage of a sling provided in an embodiment of the present application.

[0056] Figure 3 It is a schematic diagram of a processing flow for determining the anti-sway speed of a trolley when the anti-sway control method provided in an embodiment of the present application is feedback gain anti-sway control.

[0057] Figure 4 It is a schematic diagram of a processing flow for determining the anti-sway speed of the trolley when the anti-sway control method provided in the embodiment of the present application is damping anti-sway control.

[0058] Figure 5 It is a schematic diagram of the swing angle-time variation of the spreader provided in the embodiment of the present application;

[0059] Figure 6 It is a schematic diagram of the speed-time variation of the car provided in the embodiment of the present application;

[0060] Figure 7 It is a structural schematic diagram of a sling anti-sway control device provided in an embodiment of the present application.

[0061] Figure 8 It is a structural schematic diagram of a sling anti-sway control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0063] Figure 1 is a flow chart of a method for controlling the anti-sway of a sling provided in an embodiment of the present application, such as Figure 1 As shown, the anti-sway control method of the spreader of this embodiment is applied to a crane provided with a trolley, and the specific steps include:

[0064] S101, calculating the swing angle amplitude of the spreader according to the swing angle of the spreader, the angular velocity of the spreader and the swing length of the spreader.

[0065] Specifically, during the actual operation of the crane, if the trolley stops running due to driver operation or system process interruption, the spreader will inevitably shake after the trolley stops running, which will affect the safety of the crane operation and require anti-sway control of the spreader. When performing anti-sway control on the spreader, it is first necessary to determine the current shaking condition of the spreader. Therefore, it is necessary to pre-set an angle sensor and an angular velocity sensor on the spreader to determine the current shaking condition of the spreader.

[0066] The angle sensor installed on the spreader is used to detect the current swing angle of the spreader, and the angular velocity sensor is used to detect the current angular velocity of the spreader. When the crane controller controls the trolley to work, it can control the height of the spreader to be lowered by the trolley, so as to determine the distance between the trolley and the spreader, that is, the pendulum length of the spreader. Among them, the angular velocity of the spreader refers to the angle at which the spreader swings per second. When anti-sway control of the spreader is required, it is first necessary to obtain the swing angle, angular velocity and pendulum length of the spreader, and calculate the swing angle amplitude of the spreader based on the above data. The specific calculation steps are as follows:

[0067] First, the square root of the ratio of gravitational acceleration to pendulum length is taken as the angular frequency of the spreader.

[0068] In this embodiment, the angular frequency of the spreader needs to be calculated based on the gravitational acceleration and the pendulum length of the spreader, and the ratio between the gravitational acceleration and the pendulum length of the spreader is determined, and the square root of the ratio is used as the angular frequency of the spreader. That is, Among them, ω represents the angular frequency of the spreader, g represents the acceleration due to gravity, and l represents the pendulum length of the spreader.

[0069] Second, according to the swing angle, angular velocity and angular frequency, the swing angle amplitude of the spreader is calculated according to the preset swing amplitude calculation rules.

[0070] In this embodiment, it is necessary to determine the current swing of the spreader according to the swing angle amplitude of the spreader, and judge whether the spreader is currently swinging greatly, slightly or slightly. Therefore, according to the preset swing amplitude calculation rule and the corresponding data obtained in advance, the current swing angle amplitude of the spreader is calculated. Among them, the preset swing amplitude calculation rule is:

[0071]

[0072] Among them, θ A represents the swing angle amplitude of the spreader, θ represents the swing angle of the spreader, represents the angular velocity of the spreader, and ω represents the angular frequency of the spreader.

[0073] S102: Compare the swing angle amplitude with a preset swing amplitude threshold to determine an anti-sway control mode.

[0074] Specifically, if the swing angle amplitude of the sling is different, it means that the sway of the sling is different. In this embodiment, a swing amplitude threshold is pre-set, and the swing angle amplitude of the sling can be divided into a range by the swing amplitude threshold, so as to distinguish the swing angle amplitude range when the sling is shaken greatly, the swing angle amplitude range when the sling is shaken slightly, and the swing angle amplitude range when the sling is shaken slightly. By comparing the swing angle amplitude of the sling with the pre-set swing amplitude threshold, the swing angle amplitude range in which the current swing angle amplitude of the sling is located is determined, so as to determine the sling shaking situation corresponding to the current swing angle amplitude of the sling. Different swaying situations of the sling require different anti-sway control methods. When the sling shakes greatly, it is necessary to use an anti-sway control method for large swings to control the trolley. When the sling shakes slightly, it is necessary to use an anti-sway control method for small swings to control the trolley. When the sling shakes slightly, it may no longer affect the sling and the load carried by the sling, so the anti-sway control of the trolley can be stopped at this time.

[0075] In this embodiment, after determining the current shaking condition of the sling by comparing the swing angle amplitude of the sling with the preset swing amplitude threshold, the anti-sway control method for the current shaking condition of the sling is determined, thereby enabling the anti-sway control method to be switched in stages, thereby avoiding the problem that the same anti-sway control method can only adapt to one shaking condition, and the anti-sway effect is not significant or the anti-sway efficiency is low in other shaking conditions.

[0076] This step specifically includes:

[0077] First, the swing angle amplitude is compared with the preset swing threshold to determine the swing stage of the spreader.

[0078] In this embodiment, by comparing the swing angle amplitude of the spreader with the preset swing amplitude threshold, the swing angle amplitude range of the current swing angle amplitude of the spreader can be determined, wherein different swing angle amplitude ranges correspond to different swing amplitude stages. For example, the swing angle amplitude range during large swinging corresponds to the first swing amplitude stage, and the swing angle amplitude range during small swinging corresponds to the second swing amplitude stage. The swing angle amplitude range during slight swinging corresponds to the third swing amplitude stage.

[0079] Second, the anti-sway control method corresponding to the swing amplitude stage is obtained.

[0080] In this embodiment, the swing stage of the spreader is different, and the anti-sway control mode adopted is also different. Among them, the anti-sway control mode corresponding to the first swing stage is feedback gain anti-sway control, the anti-sway control mode corresponding to the second swing stage is damping anti-sway control, and the anti-sway control mode corresponding to the third swing stage is stop anti-sway control. Therefore, when the swing stage of the spreader is the first swing stage, the current anti-sway control mode is determined to be feedback gain anti-sway control, when the swing stage of the spreader is the second swing stage, the current anti-sway control mode is determined to be damping anti-sway control, and when the swing stage of the spreader is the third swing stage, the current anti-sway control mode is determined to be stop anti-sway control.

[0081] S103, determining the anti-sway speed of the trolley according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode.

[0082] Specifically, the anti-sway control methods of the hoist are different, and the methods of calculating the anti-sway speed of the trolley are also different, so the parameters required to calculate the anti-sway speed of the trolley are also different. Therefore, this embodiment needs to obtain the anti-sway control information corresponding to each anti-sway control method in advance, so as to calculate the corresponding anti-sway speed of the trolley using the anti-sway control information. In this embodiment, the anti-sway control methods include: feedback gain anti-sway control and damping anti-sway control. When the feedback gain anti-sway control method is used to control the trolley for anti-sway control, the swing angle amplitude of the hoist is reduced by controlling the trolley to run back and forth. When the damping anti-sway control method is used to control the trolley for anti-sway control, the damping term is added to suppress the shaking of the hanging load. This embodiment calculates the anti-sway speed of the trolley according to the anti-sway control information corresponding to the anti-sway control method and the calculation method corresponding to the anti-sway control method, thereby realizing anti-sway control by controlling the trolley speed.

[0083] Among them, the anti-sway control information corresponding to the feedback gain anti-sway control method includes: the pendulum length of the spreader, the swing angle of the spreader, the angular velocity of the spreader, the preset maximum acceleration of the trolley, the preset maximum speed of the trolley, the preset control parameters and the pre-constructed system state space equation; the anti-sway control information corresponding to the damping anti-sway control method includes: the pendulum length of the spreader, the swing angle amplitude of the spreader, the preset fixed damping ratio and the preset maximum speed of the trolley.

[0084] S104, controlling the movement of the trolley according to the trolley anti-sway speed.

[0085] Specifically, the swing angle amplitude of the spreader is constantly changing, so the calculated anti-sway speed of the trolley is also constantly changing. The operation of the trolley is controlled according to the anti-sway speed of the trolley, so that the swing angle amplitude of the spreader can be weakened by the movement of the trolley, until the spreader shakes slightly, the anti-sway control of the trolley is stopped, that is, the trolley is controlled to stop running.

[0086] From the above introduction, it can be seen that the anti-sway control method of the sling of the embodiment of the present application calculates the swing angle amplitude of the sling according to the swing angle of the sling, the angular velocity of the sling and the swing length of the sling; compares the swing angle amplitude with the preset swing amplitude threshold to determine the anti-sway control mode; determines the anti-sway speed of the trolley according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode; and controls the operation of the trolley according to the anti-sway speed of the trolley. By adopting the technical solution of this embodiment, the running speed of the trolley can be automatically controlled according to the swing angle amplitude, and the swing of the sling can be eliminated by automatically adjusting the running speed of the trolley when the sling is swinging, thereby realizing automatic anti-sway, and according to the change of the swing angle amplitude, the anti-sway control mode can be switched in stages, which can realize the rapid stopping of the sling, ensure the anti-sway control effect of the sling, and improve the anti-sway control efficiency of the sling.

[0087] Further, Figure 2 is a schematic diagram of a processing flow for determining the swing amplitude stage of a sling provided in an embodiment of the present application, such as Figure 2 As shown, in the anti-sway control method for the spreader of this embodiment, the step S102 of "comparing the swing angle amplitude with the preset swing amplitude threshold to determine the swing amplitude stage of the spreader" specifically includes the following steps:

[0088] S201, determine whether the swing angle amplitude is greater than a first swing amplitude threshold, if so, execute step S202, if not, execute step S203.

[0089] Specifically, the preset swing amplitude thresholds include: a first swing amplitude threshold θ A1 and the second swing threshold θ A2 , where the first swing threshold θ A1 Greater than the second swing threshold θ A2 This embodiment requires the use of the first swing threshold θ A1 and the second swing threshold θ A2 The swing angle amplitude range is divided into: A1 The range of the swing angle amplitude when the hanger shakes greatly is taken as the range of the swing angle amplitude when the hanger shakes greatly, and the first swing amplitude threshold θ A1 and the second swing threshold θ A2 The range between is taken as the swing angle range when the hanger is shaking slightly, which will be less than or equal to the second swing amplitude threshold value θ A2 The range is used as the swing angle range when the sling sways slightly. Then, the swing amplitude stage of the sling is determined according to the swing angle range of the sling, so as to obtain the corresponding anti-sway control method.

[0090] In this embodiment, it is necessary to determine the swing angle amplitude θ of the hanger A Is it greater than the first swing threshold θ A1 , if the swing angle amplitude of the spreader is θ AGreater than the first swing threshold θ A1 , then execute step S202; if the swing angle amplitude θ of the spreader A Not greater than the first swing threshold θ A1 , then execute step S203.

[0091] S202: Determine that the swing amplitude stage of the spreader is the first swing amplitude stage.

[0092] Specifically, if the swing angle amplitude θ of the spreader is determined A Greater than the first swing threshold θ A1 , that is, θ A >θ A1 , indicating the current swing angle amplitude θ of the spreader A If the spreader is in the swing angle amplitude range when it sways greatly, then the spreader is shaking greatly at this time, and it is determined that the current swing amplitude stage of the spreader is the first swing amplitude stage. The anti-sway control method to be adopted is feedback gain anti-sway control, which controls the trolley to run back and forth, thereby reducing the swing angle amplitude of the spreader.

[0093] S203, determining whether the swing angle amplitude is greater than a second swing amplitude threshold, if so, executing step S204, if not, executing step S205.

[0094] Specifically, if the swing angle amplitude θ of the spreader is determined A Less than or equal to the first swing threshold θ A1 , then it means the current swing angle amplitude θ of the hanger A The swing angle amplitude range is not within the swing angle amplitude range when the spreader is shaking greatly, that is, the spreader is not in the first swing amplitude stage, then it is necessary to continue to determine the swing angle amplitude θ of the spreader. A Is it greater than the second swing threshold θ A2 If the swing angle of the spreader is θ A Greater than the second swing threshold θ A2 , then execute step S204; if the swing angle amplitude θ of the spreader A Not greater than the second swing threshold θ A2 , then execute step S205.

[0095] S204: Determine that the swing amplitude stage of the spreader is the second swing amplitude stage.

[0096] Specifically, if the swing angle amplitude θ of the spreader is determined A Greater than the second swing threshold θ A2 , that is, θ A2 <θ A ≤θ A1 , indicating the current swing angle amplitude θ of the spreader AIf the sling is in the swing angle amplitude range when it sways slightly, then the sling is swaying slightly at this time, and it is determined that the current swing amplitude stage of the sling is the second swing amplitude stage. The anti-sway control method to be adopted is damping anti-sway control, which suppresses the sway of the hoisted load by adding the damping term.

[0097] S205: Determine that the swing amplitude stage of the spreader is the third swing amplitude stage.

[0098] Specifically, if the swing angle amplitude θ of the spreader is determined A Less than or equal to the second swing threshold θ A2 , that is, θ A ≤θ A2 , indicating the current swing angle amplitude θ of the spreader A If the swing angle amplitude range is when the spreader is slightly swaying, then the spreader is swaying slightly at this time, and it is determined that the current swing amplitude stage of the spreader is the third swing amplitude stage. At this time, the swing angle amplitude of the spreader will no longer affect the spreader and the spreader load. Therefore, the anti-sway control of the trolley can be stopped at this time to stop the trolley from running.

[0099] Further, Figure 3 1 is a schematic diagram of a processing flow for determining the anti-sway speed of a trolley when the anti-sway control method provided in the embodiment of the present application is feedback gain anti-sway control, such as Figure 3 As shown, in the anti-sway control method for the spreader of this embodiment, step S103 specifically includes the following steps:

[0100] S301: If the anti-sway control mode is feedback gain anti-sway control, the feedback control gain is calculated according to the system state space equation, pendulum length, pendulum angle, angular velocity and control parameters.

[0101] Specifically, when the swing angle amplitude θ of the spreader A Greater than the first swing threshold θ A1 , that is, θ A >θ A1 When calculating the feedback control gain, it is necessary to use the feedback gain calculation tool to calculate the feedback control gain based on the pre-constructed system state space equation, the swing length of the spreader, the swing angle of the spreader, the angular velocity of the spreader and the pre-set control parameters.

[0102] The system kinematic equation corresponding to the crane trolley of this embodiment is:

[0103]

[0104] Among them, x M represents the horizontal position of the trolley, θ represents the swing angle of the sling from the vertical direction, l represents the pendulum length of the sling, and g represents the gravitational acceleration constant.

[0105] When the crane is operating under anti-sway control, the system is in a state of fixed rope length or rope length change is very small. After further linearization of the above nonlinear equation (1), the system state variable is selected Where θ represents the swing angle of the hanger, Represents the angular velocity of the spreader, so the system state space equation can be obtained:

[0106]

[0107] in, The optimal controller is designed based on the state space equation of the system, and then the feedback gain calculation tool is used to calculate the optimal controller according to the swing length l of the spreader, the swing angle θ of the spreader, and the angular velocity of the spreader. And the pre-set control parameters are used to obtain feedback control gains k1 and k2. Among them, the pre-set control parameters are the weight parameters required when calculating the feedback gain. In this embodiment, the feedback gain calculation tool can be a mathematical tool such as Matlab, and the feedback control gain can be calculated offline using mathematical tools such as Matlab. The feedback gain calculation tool can also be the Riccati equation. Since the order of the system equation is low, the feedback control gain can be obtained by directly solving the Riccati equation in this embodiment. The specific calculation process of the feedback control gain in this embodiment belongs to the prior art. Those skilled in the art can realize the calculation of the feedback control gain based on the above content and in combination with the prior art.

[0108] S302, according to the preset acceleration calculation rules and the maximum acceleration of the car, according to the feedback control gain, the swing angle and the angular velocity, determine the output acceleration of the car.

[0109] Specifically, after the feedback control gain is calculated in this embodiment, the output acceleration of the trolley needs to be determined according to the preset acceleration calculation rules and the maximum acceleration of the trolley, based on the feedback control gain, the swing angle and the angular velocity. The feedback control gain includes the feedback control gain k1 corresponding to the swing angle of the spreader and the feedback control gain k2 corresponding to the angular velocity of the spreader. The specific steps are as follows:

[0110] First, according to the preset acceleration calculation rules, the theoretical acceleration of the car is calculated based on the feedback control gain, swing angle and angular velocity.

[0111] Among them, the preset acceleration calculation rule is: in, represents the theoretical acceleration of the trolley, k1 represents the feedback control gain corresponding to the swing angle θ of the spreader, and k2 represents the angular velocity of the spreader The corresponding feedback control gain.

[0112] Second, the theoretical acceleration is limited according to the maximum acceleration of the car to obtain the output acceleration of the car.

[0113] Specifically, when determining the output acceleration of the car, this embodiment needs to consider the system's restrictions on the car's acceleration. The system sets the car's maximum speed. Therefore, after calculating the theoretical acceleration of the car, it is also necessary to limit the car's theoretical acceleration according to the preset maximum acceleration of the car. That is, if the car's theoretical acceleration is less than or equal to the car's maximum acceleration, the car's theoretical acceleration is used as the car's output acceleration. If the car's theoretical acceleration is greater than the car's maximum acceleration, the system cannot control the car's running speed according to the car's theoretical acceleration. Therefore, the car's maximum acceleration needs to be used as the car's output acceleration.

[0114] S303, according to the maximum speed of the car, the output acceleration is subjected to integral limiting processing to obtain the anti-sway speed of the car.

[0115] Specifically, this embodiment can integrate the output acceleration of the car with respect to the current speed of the car, so as to calculate the theoretical anti-sway speed of the car. When calculating the anti-sway speed of the car, this embodiment needs to consider the system's limitation on the running speed of the car. The system sets the maximum speed of the car. Therefore, the theoretical anti-sway speed of the car needs to be limited according to the maximum speed of the car. That is, if the theoretical anti-sway speed of the car is less than or equal to the maximum speed of the car, the theoretical anti-sway speed of the car is used as the anti-sway speed of the car. If the theoretical anti-sway speed of the car is greater than the maximum speed of the car, the system cannot control the car to reach the theoretical anti-sway speed. Therefore, the maximum speed of the car needs to be used as the anti-sway speed of the car.

[0116] Further, Figure 4 is a schematic diagram of a processing flow for determining the anti-sway speed of the trolley when the anti-sway control mode provided in the embodiment of the present application is damping anti-sway control, such as Figure 4 As shown, in the anti-sway control method for the spreader of this embodiment, step S103 specifically further includes the following steps:

[0117] S401. If the anti-sway control mode is damping anti-sway control, the theoretical damping ratio is calculated according to the preset damping ratio calculation rule, the pendulum length, the swing angle amplitude and the maximum speed of the trolley.

[0118] Specifically, when the swing angle amplitude θ of the spreader A Less than or equal to the first swing threshold θ A1 , and is greater than the second swing threshold θ A2 , that is, θ A2 <θ A ≤θ A1When , it means that the swing angle of the spreader is not very large at this time, and there is no need to perform feedback gain anti-sway control, and damping anti-sway control can be performed directly. In this embodiment, the position of the spreader in the horizontal direction can be expressed as: x L =x M +lsinθ≈x M +lθ (2)

[0119] According to equations (1) and (2), the following equation about the position of the spreader can be obtained:

[0120]

[0121] Among them, v L Indicates the speed of the spreader in the horizontal direction, v M Indicates the running speed of the car.

[0122] The system represented by the above equation (3) is an undamped system, or even if the damping term is considered, it is a weakly damped system. Therefore, this embodiment can suppress the shaking of the hoisted load by adding the damping term. Therefore, this embodiment needs to calculate the theoretical damping ratio according to the preset damping ratio calculation rules, the swing length of the hoist, the swing angle amplitude of the hoist and the maximum speed of the trolley.

[0123] Among them, the preset damping ratio calculation rule is:

[0124]

[0125] Where ζ1 represents the theoretical damping ratio, V max represents the maximum speed of the car, θ A represents the swing angle amplitude, ω represents the angular frequency of the spreader, l represents the swing length of the spreader, and g represents the acceleration of gravity.

[0126] S402: Taking the maximum value of the theoretical damping ratio and the fixed damping ratio as the target damping ratio.

[0127] In this embodiment, a fixed damping ratio ζ0 is preset, and the fixed damping ratio ζ0 is determined according to the on-site conditions, and the preferred value range is 0.6 to 0.8. In this embodiment, the maximum value of the theoretical damping ratio ζ1 and the fixed damping ratio ζ0 is used as the target damping ratio ζ, that is,

[0128] S403, according to the preset damping ratio-speed calculation rule, the anti-sway speed of the trolley is calculated according to the swing angle amplitude, the swing length and the target damping ratio.

[0129] Specifically, after calculating the target damping ratio in this embodiment, the preset damping ratio-speed calculation rule can be used to calculate the trolley speed corresponding to the increased damping term according to the target damping ratio and the swing angle amplitude of the spreader, so as to suppress the sway of the spreader load by damping. The preset damping ratio-speed calculation rule is:

[0130]

[0131] Among them, V M Indicates the anti-sway speed of the car.

[0132] Further, Figure 5 It is a schematic diagram of the swing angle-time variation of the spreader provided in the embodiment of the present application; Figure 6 Schematic diagram of the speed-time variation of the car provided in the embodiment of the present application. Figure 5 As shown, the horizontal axis represents time, the vertical axis represents the swing angle of the spreader, the dotted line represents the change of the spreader anti-sway control enable, and the solid line represents the change of the spreader swing angle. When the spreader anti-sway control enable represented by the dotted line changes for the first time, it means that the system starts the spreader anti-sway control. When the spreader anti-sway control enable changes for the second time, it means that the system stops the spreader anti-sway control. Figure 6 As shown in the figure, the horizontal axis represents time and the vertical axis represents the running speed of the car. Figure 5 and Figure 6 As shown in the figure, when the spreader anti-sway control is enabled for the first time, the speed of the trolley changes, and the feedback gain anti-sway control mode is used to control the spreader anti-sway until about 15.2s, when the anti-sway control mode is switched to the damping anti-sway control mode. When the spreader anti-sway control is enabled for the second time, the spreader anti-sway control is stopped and the trolley stops running. It should be noted that in actual control, the given speed of the trolley will jump due to the switching of the anti-sway control mode at about t = 15.2s. Figure 6 There is no clear jump shown in the curve.

[0133] Corresponding to the above-mentioned anti-sway control method for a sling, the embodiment of the present application further provides an anti-sway control device for a sling, Figure 7 Schematic diagram of the structure of a sling anti-sway control device provided in an embodiment of the present application. Figure 7 As shown, the anti-sway control device for a sling of this embodiment comprises:

[0134] A swing amplitude calculation module 100 is used to calculate the swing angle amplitude of the spreader according to the swing angle of the spreader, the angular velocity of the spreader and the swing length of the spreader;

[0135] The anti-sway mode determination module 110 is used to compare the swing angle amplitude with a preset swing amplitude threshold to determine the anti-sway control mode;

[0136] The anti-sway speed determination module 120 is used to determine the anti-sway speed of the trolley according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode;

[0137] The trolley control module 130 is used to control the operation of the trolley according to the trolley anti-sway speed.

[0138] The anti-sway control device for the sling proposed in the embodiment of the present application uses the swing amplitude calculation module 100 to calculate the swing angle amplitude of the sling according to the swing angle, angular velocity and swing length of the sling; uses the anti-sway mode determination module 110 to compare the swing angle amplitude with the preset swing amplitude threshold to determine the anti-sway control mode; uses the anti-sway speed determination module 120 to determine the anti-sway speed of the trolley according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode; and uses the trolley control module 130 to control the operation of the trolley according to the anti-sway speed of the trolley. By adopting the technical solution of this embodiment, the running speed of the trolley can be automatically controlled according to the swing angle amplitude, and the swing of the sling can be eliminated by automatically adjusting the running speed of the trolley when the sling is swinging, thereby realizing automatic anti-sway, ensuring the anti-sway effect of the sling, and improving the anti-sway control efficiency of the sling.

[0139] Furthermore, in the anti-sway control device for the spreader of this embodiment, the swing amplitude calculation module 100 is specifically used for:

[0140] The square root of the ratio between the gravitational acceleration and the pendulum length is taken as the angular frequency of the spreader;

[0141] According to the swing angle, angular velocity and angular frequency, the swing angle amplitude of the hanger is calculated according to the preset swing amplitude calculation rules.

[0142] Furthermore, in the anti-sway control device for hoisting equipment of this embodiment, the anti-sway mode determination module 110 includes: a swing amplitude stage determination unit and an acquisition unit.

[0143] A swing amplitude stage determination unit is used to compare the swing angle amplitude with a preset swing amplitude threshold to determine the swing amplitude stage of the spreader;

[0144] An acquisition unit, used for acquiring an anti-sway control mode corresponding to a swing amplitude stage;

[0145] The swing stage includes a first swing stage and a second swing stage. The anti-sway control mode corresponding to the first swing stage is feedback gain anti-sway control, and the anti-sway control mode corresponding to the second swing stage is damping anti-sway control.

[0146] Furthermore, in the anti-sway control device for the spreader of this embodiment, the swing amplitude threshold comprises: a first swing amplitude threshold and a second swing amplitude threshold, and the first swing amplitude threshold is greater than the second swing amplitude threshold. The swing amplitude stage determination unit is specifically used to:

[0147] Determine whether the swing angle amplitude is greater than a first swing amplitude threshold;

[0148] If the swing angle amplitude is greater than the first swing amplitude threshold, it is determined that the swing amplitude stage of the spreader is the first swing amplitude stage;

[0149] If the swing angle amplitude is not greater than the first swing amplitude threshold, then determining whether the swing angle amplitude is greater than the second swing amplitude threshold;

[0150] If the swing angle amplitude is greater than the second swing amplitude threshold, it is determined that the swing amplitude stage of the spreader is the second swing amplitude stage.

[0151] Further, in the anti-sway control device for the spreader of the present embodiment, if the anti-sway control mode is feedback gain anti-sway control, the anti-sway control information includes: pendulum length, pendulum angle, angular velocity, preset maximum acceleration of the trolley, preset maximum speed of the trolley, preset control parameters and pre-constructed system state space equations;

[0152] If the anti-sway control mode is damping anti-sway control, the anti-sway control information includes: pendulum length, swing angle amplitude, a preset fixed damping ratio and a preset maximum speed of the trolley.

[0153] Furthermore, in the anti-sway control device for the spreader of this embodiment, the anti-sway speed determination module 120 is specifically used for:

[0154] If the anti-sway control mode is feedback gain anti-sway control, the feedback control gain is calculated according to the system state space equation, pendulum length, pendulum angle, angular velocity and control parameters;

[0155] According to the preset acceleration calculation rules and the maximum acceleration of the car, the output acceleration of the car is determined according to the feedback control gain, swing angle and angular velocity;

[0156] According to the maximum speed of the car, the output acceleration is integrated and limited to obtain the anti-sway speed of the car.

[0157] Furthermore, in the anti-sway control device for the spreader of the present embodiment, the anti-sway speed determination module 120 determines the output acceleration of the trolley according to the preset acceleration calculation rule and the maximum acceleration of the trolley, based on the feedback control gain, the swing angle and the angular velocity, including:

[0158] According to the preset acceleration calculation rules, the theoretical acceleration of the car is calculated based on the feedback control gain, swing angle and angular velocity;

[0159] According to the maximum acceleration of the car, the theoretical acceleration is limited to obtain the output acceleration of the car.

[0160] Furthermore, in the anti-sway control device for the spreader of this embodiment, the anti-sway speed determination module 120 is further specifically used for:

[0161] If the anti-sway control mode is damping anti-sway control, the theoretical damping ratio is calculated according to the preset damping ratio calculation rules, based on the pendulum length, swing angle amplitude and maximum speed of the trolley;

[0162] The maximum value between the theoretical damping ratio and the fixed damping ratio is taken as the target damping ratio;

[0163] According to the preset damping ratio-speed calculation rules, the anti-sway speed of the trolley is calculated based on the swing angle amplitude, pendulum length and target damping ratio.

[0164] Furthermore, in the anti-sway control device for the sling of this embodiment, the preset swing amplitude calculation rule is:

[0165]

[0166] Among them, θ A represents the swing angle amplitude, θ represents the swing angle, represents the angular velocity, and ω represents the angular frequency.

[0167] Furthermore, in the anti-sway control device for the spreader of this embodiment, the preset damping ratio calculation rule is:

[0168]

[0169] The preset damping ratio-speed calculation rule is:

[0170]

[0171] Where ζ1 represents the theoretical damping ratio, V max represents the maximum speed of the car, θ A represents the swing angle, l represents the pendulum length, g represents the acceleration due to gravity, V M represents the anti-sway speed of the car, and ζ represents the target damping ratio.

[0172] Specifically, for the specific working contents of each unit of the above-mentioned sling anti-sway control device, please refer to the introduction of the above-mentioned method embodiment, which will not be repeated here.

[0173] Figure 8 Schematic diagram of the structure of a sling anti-sway control device provided in an embodiment of the present application. Figure 8 As shown, the device includes: a memory 200 and a processor 210;

[0174] The memory 200 is connected to the processor 210 and is used to store programs;

[0175] The processor 210 is used to implement the anti-sway control method of the spreader disclosed in any of the above embodiments by running the program stored in the memory 200.

[0176] Specifically, the above-mentioned sling anti-sway control device may further include: a bus, a communication interface 220 , an input device 230 and an output device 240 .

[0177] The processor 210, the memory 200, the communication interface 220, the input device 230 and the output device 240 are interconnected via a bus, wherein the bus may include a path for transmitting information between various components of the computer system.

[0178] The processor 210 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0179] The processor 210 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0180] The memory 200 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 200 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0181] The input device 230 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0182] Output device 240 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0183] The communication interface 220 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0184] The processor 2102 executes the program stored in the memory 200 and calls other devices, which can be used to implement each step of the hoisting equipment anti-sway control method provided in the embodiment of the present application.

[0185] Another embodiment of the present application further provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, each step of the sling anti-sway control method provided in any of the above embodiments is implemented.

[0186] Another embodiment of the present application further provides a crane, which includes the hoisting equipment anti-sway control device provided in the above embodiment.

[0187] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0188] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0189] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0190] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0191] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly explain the technical solutions and cannot be used to limit the scope of protection of the present application.

[0192] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for controlling the anti-sway of a sling, characterized in that: include: Calculating the swing angle amplitude of the spreader according to the swing angle of the spreader, the angular velocity of the spreader and the pendulum length of the spreader, including: taking the square root of the ratio between the gravitational acceleration and the pendulum length as the angular frequency of the spreader; calculating the swing angle amplitude of the spreader according to the swing angle, the angular velocity and the angular frequency and a preset swing amplitude calculation rule; Comparing the swing angle amplitude with a preset swing amplitude threshold, determining an anti-sway control mode, wherein the swing amplitude threshold includes: a first swing amplitude threshold and a second swing amplitude threshold, the first swing amplitude threshold is greater than the second swing amplitude threshold, if the swing angle amplitude is greater than the first swing amplitude threshold, determining that the anti-sway control mode is feedback gain anti-sway control; if the swing angle amplitude is less than the first swing amplitude threshold and greater than the second swing amplitude threshold, determining that the anti-sway control mode is damping anti-sway control; if the swing angle amplitude is less than the second swing amplitude threshold, determining that the anti-sway control mode is stop anti-sway control; Determining the anti-sway speed of the trolley according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode; The operation of the trolley is controlled according to the trolley anti-sway speed.

2. The method according to claim 1, characterized in that Comparing the swing angle amplitude with a preset swing amplitude threshold to determine an anti-sway control method includes: Comparing the swing angle amplitude with a preset swing amplitude threshold to determine the swing amplitude stage of the spreader; Obtaining an anti-sway control method corresponding to the swing amplitude stage; The swing amplitude stage includes a first swing amplitude stage and a second swing amplitude stage. The anti-sway control mode corresponding to the first swing amplitude stage is feedback gain anti-sway control, and the anti-sway control mode corresponding to the second swing amplitude stage is damping anti-sway control.

3. The method according to claim 2, characterized in that Comparing the swing angle amplitude with a preset swing amplitude threshold to determine the swing amplitude stage of the spreader includes: Determining whether the swing angle amplitude is greater than the first swing amplitude threshold; If the swing angle amplitude is greater than the first swing amplitude threshold, determining that the swing amplitude stage of the spreader is the first swing amplitude stage; If the swing angle amplitude is not greater than the first swing amplitude threshold, determining whether the swing angle amplitude is greater than the second swing amplitude threshold; If the swing angle amplitude is greater than the second swing amplitude threshold, it is determined that the swing amplitude stage of the hanger is the second swing amplitude stage.

4. The method according to claim 1, characterized in that: If the anti-sway control mode is feedback gain anti-sway control, the anti-sway control information includes: the pendulum length, the pendulum angle, the angular velocity, a preset maximum acceleration of the trolley, a preset maximum velocity of the trolley, a preset control parameter and a pre-constructed system state space equation; If the anti-sway control mode is damping anti-sway control, the anti-sway control information includes: the pendulum length, the swing angle amplitude, a preset fixed damping ratio and a preset maximum speed of the trolley.

5. The method according to claim 4, characterized in that The step of determining the anti-sway speed of the vehicle according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode includes: If the anti-sway control mode is feedback gain anti-sway control, a feedback control gain is calculated according to the system state space equation, the pendulum length, the pendulum angle, the angular velocity and the control parameter; According to the preset acceleration calculation rule and the maximum acceleration of the car, the output acceleration of the car is determined according to the feedback control gain, the swing angle and the angular velocity; According to the maximum speed of the trolley, the output acceleration is subjected to integral limiting processing to obtain the trolley anti-sway speed.

6. The method according to claim 5, characterized in that The method of determining the output acceleration of the vehicle according to the preset acceleration calculation rule and the maximum acceleration of the vehicle, based on the feedback control gain, the swing angle and the angular velocity, comprises: According to the preset acceleration calculation rule, the theoretical acceleration of the car is calculated according to the feedback control gain, the swing angle and the angular velocity; The theoretical acceleration is limited according to the maximum acceleration of the car to obtain the output acceleration of the car.

7. The method according to claim 4, characterized in that The step of determining the anti-sway speed of the vehicle according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode includes: If the anti-sway control mode is damping anti-sway control, the theoretical damping ratio is calculated according to the preset damping ratio calculation rule, the pendulum length, the swing angle amplitude and the maximum speed of the trolley; taking the maximum value of the theoretical damping ratio and the fixed damping ratio as the target damping ratio; According to the preset damping ratio-speed calculation rule, the anti-sway speed of the trolley is calculated according to the swing angle amplitude, the swing length and the target damping ratio.

8. The method according to claim 1, characterized in that: The preset swing amplitude calculation rule is: Among them, θ A represents the swing angle amplitude, θ represents the swing angle, represents the angular velocity, and ω represents the angular frequency.

9. The method according to claim 7, characterized in that: The preset damping ratio calculation rule is: The preset damping ratio-speed calculation rule is: Where ζ1 represents the theoretical damping ratio, V max represents the maximum speed of the car, θ A represents the swing angle, l represents the pendulum length, g represents the gravitational acceleration, V M represents the anti-sway speed of the car, and ζ represents the target damping ratio.

10. A sling anti-sway control device, characterized in that: include: A swing amplitude calculation module is used to calculate the swing angle amplitude of the spreader according to the swing angle of the spreader, the angular velocity of the spreader and the swing length of the spreader; The swing amplitude calculation module is specifically used to: use the square root of the ratio of the gravitational acceleration to the pendulum length as the angular frequency of the spreader; calculate the swing angle amplitude of the spreader according to the swing angle, the angular velocity and the angular frequency and the preset swing amplitude calculation rule; an anti-sway mode determination module, used for comparing the swing angle amplitude with a preset swing amplitude threshold to determine an anti-sway control mode, wherein the swing amplitude threshold includes: a first swing amplitude threshold and a second swing amplitude threshold, the first swing amplitude threshold is greater than the second swing amplitude threshold, if the swing angle amplitude is greater than the first swing amplitude threshold, it is determined that the anti-sway control mode is feedback gain anti-sway control; if the swing angle amplitude is less than the first swing amplitude threshold and greater than the second swing amplitude threshold, it is determined that the anti-sway control mode is damping anti-sway control; if the swing angle amplitude is less than the second swing amplitude threshold, it is determined that the anti-sway control mode is stop anti-sway control; An anti-sway speed determination module, used to determine the anti-sway speed of the trolley according to the anti-sway control mode and the anti-sway control information corresponding to the anti-sway control mode; The trolley control module is used to control the operation of the trolley according to the anti-sway speed of the trolley.

11. A sling anti-sway control device, characterized in that: include: Memory and processor; Wherein, the memory is connected to the processor and is used to store programs; The processor is used to implement the spreader anti-sway control method according to any one of claims 1 to 9 by running the program in the memory.

12. A crane, characterized in that: include: The sling anti-sway control device as claimed in claim 11.

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