Multi-stage pendulum three-dimensional bridge crane multifunctional experiment platform and method

Abstract

The application discloses a multi-stage swing three-dimensional bridge crane multifunctional experiment platform and method, wherein a trolley is arranged on a support frame, and the trolley is driven to move along the support frame through a first driving system and a second driving system; a trolley car is connected with the trolley and can move along the trolley; a lifting mechanism is connected with the trolley car; a lifting hook is connected with the lifting mechanism; a measuring module is used for acquiring the running speeds of the first driving system and the second driving system; a controller is used for respectively calculating the difference between the running speeds of the first driving system and the second driving system and a set reference speed and the difference between the running speeds of the first driving system and the second driving system, and controlling the first driving system and the second driving system according to the differences so that the first driving system and the second driving system synchronously run. The anti-deviation function of the trolley can be designed and verified, and the anti-swing control research on different load shapes and lifting forms can be carried out.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cranes, in particular to a multi-stage swing three-dimensional bridge crane multifunctional experiment platform and method. BACKGROUND

[0002] The statements in this section merely provide background information related to the present application and do not necessarily constitute the prior art.

[0003] As a logistics transportation equipment, the bridge crane is widely used in steel smelting, workshop warehouse, container yard and many other places due to its simple structure, convenient maintenance and large carrying capacity. In the working process, the crane system is connected with the goods through a flexible steel wire rope to realize the lifting of the goods, and the movement of the trolley and the car is used to realize the transportation of the goods. In the process of transporting the goods, the crane system cannot directly control the state of the goods, that is, the control degree of freedom is less than the output degree of freedom, which belongs to an underactuated system. In this case, the change of the trolley or car speed state or external disturbance (such as wind, impact, etc.) will cause the goods to swing, affecting the working efficiency and running safety of the crane. In the existing crane control, the workers control the swing of the goods by "following the hook" operation, and the control performance mainly depends on the operation experience of the workers, and it is difficult to ensure stable control for a long time. Therefore, in recent years, electronic anti-swing technology has attracted widespread attention as a technology to suppress the swing of the load of the crane system. Many experts and scholars have carried out extensive research and proposed some effective control methods, and have achieved many good research results.

[0004] To verify the effectiveness of the proposed method, simulation and experiment are two widely used ways. Among them, simulation verification is a more commonly used way because the simulation environment is easy to build and the cost is relatively low. However, compared with the actual application conditions of the crane, the simulation environment has undergone many linearizations and direct omissions of some influencing factors, which makes it difficult to directly apply the simulation verification method to actual applications. Therefore, the experimental verification method closer to the actual application conditions of the bridge crane has begun to attract attention. It builds a bridge crane experiment platform by scaling down the actual industrial crane by a certain proportion. If the actual industrial crane is directly used for experiment, the existing control system cannot meet the control needs, the modification cost is high, and the time and economic cost is high.

[0005] In the existing bridge crane experimental platform, the driving mode applied more is servo driving, which has higher control accuracy and is easy to verify the proposed method. At the same time, through the continuous iteration and improvement of many experts and scholars, the design and processing technology of the servo driving bridge crane experimental platform is relatively mature, and has been applied in many fields. However, the high-power driving of servo driving usually faces the problem of high cost, which will affect the industrial application of the proposed control method. At the same time, the existing industrial crane system has single function and high operating cost, and it is difficult to directly carry out experimental verification of all control methods. SUMMARY

[0006] In order to solve the above problems, a multi-stage swing three-dimensional bridge crane multifunctional experimental platform and method are proposed, which can carry out verification experiments of the trolley anti-deviation function, and can also carry out anti-swing control research of different load shapes and lifting forms.

[0007] To achieve the above object, the technical scheme is as follows:

[0008] In the first aspect, a multi-stage swing three-dimensional bridge crane multifunctional experimental platform is provided, which comprises a support frame, a trolley, a trolley, a lifting mechanism, a hook, a load, a measurement module and a controller. The trolley is arranged on the support frame and is driven by the first driving system and the second driving system to move along the support frame. The trolley is connected with the trolley and can move along the trolley. The lifting mechanism is connected with the trolley. The hook is connected with the lifting mechanism.

[0009] The measurement module is used to obtain the running speed of the first driving system and the second driving system.

[0010] The controller is used to calculate the difference between the running speed of the first driving system and the second driving system and the set reference speed, and the difference between the running speed of the first driving system and the second driving system, and to control the first driving system and the second driving system according to the difference, so that the first driving system and the second driving system run synchronously.

[0011] Further, the first driving system and the second driving system are respectively located on both sides of the trolley moving direction.

[0012] Further, the trolley is driven to move along the trolley by the third driving system, and the measurement module is also used to obtain the running speed of the third driving system, and the controller is also used to control the third driving system according to the running speed of the third driving system.

[0013] Further, the third driving system comprises two driving wheels and a trolley motor, the two driving wheels are respectively located at two sides of the trolley advancing direction, the trolley motor is connected with a speed reducer, an output end of the speed reducer is connected with one of the driving wheels, and the driving wheel is connected with the other driving wheel through a universal joint, the two driving wheels are driven to rotate by the trolley motor, and then the trolley is driven to move along the trolley.

[0014] Further, the trolley is provided with a distance measuring sensor for acquiring the running distance of the trolley, the measuring module is further used for acquiring the running speed of the trolley, the controller is further used for determining the actual running speed of the trolley according to the running distance of the trolley, comparing the actual running speed of the trolley with the running speed acquired by the measuring module, and obtaining the running speed error of the trolley, and the running track of the trolley is controlled according to the running speed error.

[0015] Further, distance measuring sensors are arranged at two sides of the trolley advancing direction respectively, for acquiring the running distances of two ends of the trolley, and the controller is used for determining the actual running speeds of the two ends of the trolley according to the running distances of the two ends of the trolley, comparing the actual running speed of each end with the running speed acquired by the measuring module of the corresponding end, obtaining the running speed error of each end, and performing track tracking control on the two ends of the trolley according to the running speed error.

[0016] Further, the load is further hung on the hook.

[0017] Further, an inclination sensor is arranged on the hook and the load respectively, for acquiring the measurement value of the swinging angle of the hook and the load, the inclination sensor is connected with the controller, and the controller is used for obtaining the swinging angle of the hook or the load according to the measurement value of the swinging angle of the hook or the load.

[0018] Further, the load is of a modular design, comprising a point mass type load module, a distributed mass type load module and a liquid container type load module, different load modules and hoisting forms are combined to form a point mass single-stage pendulum, a point mass double-stage pendulum, a distributed mass double-stage pendulum and a liquid container double-stage pendulum.

[0019] In the second aspect, a multifunctional experimental method of a multi-stage pendulum three-dimensional bridge crane is provided, comprising:

[0020] The running speeds of the first driving system and the second driving system are acquired.

[0021] The difference between the running speeds of the first driving system and the second driving system and the reference speed is calculated respectively, and the difference between the running speeds of the first driving system and the second driving system is calculated, and the first driving system and the second driving system are controlled according to the difference respectively, so that the first driving system and the second driving system are synchronously operated.

[0022] Compared with the prior art, the beneficial effects of the present application are:

[0023] 1、The present application controls the movement of the trolley along the support frame by setting the first and second driving systems on both sides of the trolley advancing direction, and obtains the running speed of the first and second driving systems through the measurement module, so as to realize the verification of the trolley synchronous function experiment, that is, the verification of the trolley anti-deviation function.

[0024] 2、The present application obtains the running distance of the trolley or trolley, determines the actual running speed of the trolley or trolley through the running distance of the trolley or trolley, compares the actual running speed with the running speed obtained by the measurement module, obtains the running speed error of the driving system, and thereby obtains the trajectory tracking error, and lays a solid foundation for the verification of the tracking control method.

[0025] 3、The load of the present application is modularly arranged, and the anti-swing control performance verification of different loads and lifting forms is realized through the combination of modules.

[0026] The advantages of the additional aspects of the present application will be partially given in the following description, partially will become obvious from the following description, or will be known by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0027] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the application, and together with the description of the exemplary embodiments of the application given below, serve to explain the application, and do not constitute an improper limitation on the application.

[0028] Figure 1 The overall structure schematic diagram of the experimental platform disclosed in embodiment 1 is disclosed;

[0029] Figure 2 The trolley structure side view disclosed in embodiment 1 is disclosed;

[0030] Figure 3 The trolley structure front view disclosed in embodiment 1 is disclosed;

[0031] Figure 4 The trolley and lifting mechanism side view disclosed in embodiment 1 is disclosed;

[0032] Figure 5 The trolley and lifting mechanism front view disclosed in embodiment 1 is disclosed;

[0033] Figure 6 The control system block diagram of the experimental platform disclosed in embodiment 1 is disclosed;

[0034] Figure 7 The different load and lifting form and inclination sensor installation schematic diagram disclosed in embodiment 1 is disclosed;

[0035] Figure 8 The wireless data transmission schematic diagram between the controller and the inclination sensor disclosed in embodiment 1 is disclosed;

[0036] Figure 9 The trolley cross-coupling synchronization control block diagram disclosed by embodiment 1.

[0037] Wherein: 1, support frame, 2, trolley, 3, trolley, 4, lifting mechanism, 5, lifting hook, 6, trolley motor, 7, trolley motor, 8, reducer, 9, reducer, 10, distance sensor, 11, distance sensor, 12, trolley motor, 13, reducer, 14, lifting motor, 15, reducer, 16, inclination sensor, 17, load, 18, driving wheel. DETAILED DESCRIPTION

[0038] The application will be further described below in conjunction with the drawings and embodiments.

[0039] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains.

[0040] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and furthermore, it should be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0041] In the present application, the terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only a relationship word determined for the convenience of describing the structural relationship of the components or elements of the present application, and cannot be understood as a limitation on the present application.

[0042] In the present application, the terms such as "fixedly connected", "connected", "connected" should be understood broadly, which means that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. For relevant researchers or technicians in the art, the specific meaning of the above terms in the present application can be determined according to the specific circumstances, and cannot be understood as a limitation on the present application.

[0043] Embodiment 1

[0044] In this embodiment, a multi-stage pendulum three-dimensional bridge crane multifunctional experimental platform is disclosed, such as Figures 1-6As shown, including support frame 1, trolley 2, trolley 3, lifting mechanism 4, lifting hook 5, measurement module and controller; Trolley 2 is arranged on the support frame 1, and the trolley 2 is driven to move along the support frame 1 by the first driving system, the second driving system, the first driving system and the second driving system are respectively located on both sides of the moving direction of the trolley 2; Trolley 3 is connected with trolley 2 and can move along trolley 2; Lifting mechanism 4 is connected with trolley 3; Lifting hook 5 is connected with lifting mechanism 4;

[0045] The measurement module is used for acquiring the running speed of the first driving system and the second driving system;

[0046] The controller is used for calculating the difference between the first driving system running speed, the second driving system running speed and the set reference speed, and the difference between the first driving system and the second driving system running speed, and controlling the first driving system and the second driving system according to the difference, so that the first driving system and the second driving system run synchronously.

[0047] Wherein, the moving direction of trolley 2 on the support frame 1 is perpendicular to the moving direction of trolley 3 on trolley 2.

[0048] Because the actual application trolley has the characteristics of large span, so the first driving system and the second driving system are fixed on both ends of the trolley, and the driving mode of driving the trolley to run together.

[0049] The first driving system and the second driving system both include walking wheel, trolley motor and reducer, the trolley motor is connected with the reducer, the walking wheel is connected with the output shaft of the trolley reducer, the output shaft of the trolley motor rotates, and the walking wheel rotates through the reducer, so that the trolley can move along the support frame, and the walking wheel is located on both sides of the moving direction of the trolley.

[0050] Specifically, the first driving system includes first walking wheel, trolley motor 6 and reducer 8, trolley motor 6 is connected with reducer 8, and the output shaft of reducer 8 is connected with first walking wheel.

[0051] The second driving system includes second walking wheel, trolley motor 7 and reducer 9, trolley motor 7 is connected with reducer 9, and the output shaft of reducer 9 is connected with second walking wheel.

[0052] The first walking wheel and the second walking wheel are respectively located at both ends of the trolley 2, and the walking wheel is driven to rotate by the trolley motor, so as to drive the trolley 2 to move on the support frame 1.

[0053] Trolley 3 is connected with trolley 2, and trolley 3 is driven to move along trolley 2 by the third driving system.

[0054] The third drive system includes two drive wheels 18, a trolley motor 12, and a reducer 13. The two drive wheels 18 are located on both sides of the trolley 3 in the forward direction. The trolley motor 12 is connected to the reducer 13. The output end of the reducer 13 is connected to one of the drive wheels. This drive wheel is connected to the other drive wheel through a universal joint. The trolley motor 12 drives the two drive wheels to rotate, thereby driving the trolley 3 to move along the trolley 2. The universal joint is used to avoid the torsional jamming problem that occurs when the trolley is driven from one end.

[0055] The lifting mechanism 4 is connected to the trolley 3 and can move with the trolley 3.

[0056] The hook 5 is connected to the lifting mechanism 4 and can move up and down.

[0057] Specifically, the lifting mechanism 4 includes a lifting motor 14, which is connected to a reducer 15. The output shaft of the reducer 15 is connected to a flexible steel wire rope, which is connected to a hook 5. The lifting motor 14 drives the hook 5 to move, thereby realizing the lifting and lowering control of the load 17.

[0058] In order to conduct various experiments on the bridge crane using the experimental platform disclosed in this embodiment, a measurement module is set up to obtain the operating speeds of the first drive system, the second drive system, the third drive system, and the lifting motor.

[0059] The trolley motor, the small trolley motor, and the lifting motor all use AC asynchronous motors.

[0060] In practice, the measurement module includes an encoder, which is installed on each motor to obtain the motor speed.

[0061] The operating speed of the drive system is:

[0062]

[0063] In the formula, This represents the operating speed of the drive system, and r represents the radius of the wheels in the drive system. The encoder obtains the motor speed, n is the encoder resolution, and i is the reduction ratio of the reducer in the drive system.

[0064] When a drive system consisting of a first drive system and a second drive system fixed at both ends of the trolley to jointly drive its movement is used, the trolley is prone to deviation during operation, leading to rail wear and potentially causing a safety accident. Therefore, this application proposes a trolley cross-coupling synchronous control method, such as... Figure 9As shown, the controller calculates the difference e1 and e2 between the first driving system running speed, the second driving running speed and the set reference speed, and the difference e3 between the first driving system and the second driving system running speed, respectively, controls the first driving system and the second driving system according to the difference, so that the first driving system and the second driving system can run synchronously according to the reference speed.

[0065] Specifically, the controller controls the motor through the control one and the control two to control the frequency converter of the motor in the two driving systems of the trolley, so as to realize the verification of the trolley synchronous function test, that is, to verify the trolley anti-deviation control function.

[0066] The control one and the control two adopt the control mode of the bridge crane to be verified, which can be PID, LQR and SMC control algorithm.

[0067] The actual crane driving system includes an asynchronous motor, a multi-stage reducer and a wheel. In the driving process, there is inevitably a trajectory tracking error, which further affects the control performance of the system. In order to realize the design verification of the trajectory tracking control function of the bridge crane, a distance measuring sensor is also arranged on the trolley and the trolley for obtaining the running distance of the trolley and the trolley.

[0068] The distance measuring sensor is arranged on both sides of the front direction of the trolley for obtaining the running distance of both ends of the trolley. The controller is used to determine the actual running speed of both ends of the trolley according to the running distance of both ends of the trolley, compare the actual running speed of each end with the running speed obtained by the measuring module of the corresponding end, obtain the running speed error of each end, and control the trajectory tracking of both ends of the trolley according to the running speed error.

[0069] The distance measuring sensor is also arranged on the trolley for obtaining the running distance of the trolley. The measuring module is also used to obtain the running speed of the trolley. The controller is also used to determine the actual running speed of the trolley through the running distance of the trolley, compare the actual running speed of the trolley with the running speed obtained by the measuring module, obtain the running speed error of the trolley, and control the trajectory tracking of the trolley according to the running speed error.

[0070] The trajectory tracking control of the trolley or the trolley lays a solid foundation for the verification of the tracking control method.

[0071] In specific implementation, the running distance of the trolley or the trolley is analyzed by using first-order backward difference to obtain the actual running speed of the trolley or the trolley.

[0072] The first-order backward difference calculation formula is:

[0073]

[0074] In the formula, x, δ and i represent running distance, actual running speed, sampling period and sampling period number respectively.

[0075] The controller is further configured to obtain the load lifting height according to the running speed of the hoisting motor.

[0076] The experimental platform disclosed in the embodiment further comprises a load 17 suspended from the hook 5. Specifically, the load 17 can be suspended from the hook 5 by using a flexible wire rope.

[0077] In order to verify the design of the multi-stage swing anti-swing control function, an inclination sensor 16 is arranged on the hook 5 and the load 17 to obtain the measurement value of the swing angle of the hook 5 and the load 17, and the controller is configured to obtain the swing angle of the hook or the load according to the measurement value of the swing angle of the hook or the load.

[0078] The swing angle calculation equation is

[0079]

[0080] wherein θ m is the measurement value of the inclination sensor, P max , P min are the normalized maximum value and the minimum value obtained by PLC operation, E max , E min are the maximum and minimum measurement ranges of the inclination, and Δ represents the compensation error for eliminating the installation error.

[0081] In addition, in view of the problems of sensor installation, communication and maintenance difficulty in the load angle measurement of the flexible hoisting mechanism, the embodiment proposes a combined measurement mode of the inclination sensor and the wireless communication module. Specifically, the edge of the inclination sensor 16 is fixed to the surface of the hook and the load by a pressing plate, and wireless modules are arranged on the controller and the inclination sensor, so as to realize the wireless communication connection between the controller and the inclination sensor, and to transmit the measurement value of the swing angle of the load or the hook obtained by the inclination sensor to the controller in real time.

[0082] The schematic diagram of the wireless data transmission scheme between the inclination sensor and the controller is shown in Figure 8 .

[0083] The load 17 is modularly arranged, including a point mass type load module, a distributed mass type load module and a liquid container type load module, and different load modules and hoisting forms are combined to form different forms such as a point mass single-stage swing, a point mass double-stage swing, a distributed mass double-stage swing and a liquid container double-stage swing, as shown in Figure 7 . Figure 7(a) is a point mass single-stage pendulum, (b) is a point mass double-stage pendulum, (c) is a distributed mass double-stage pendulum, and (d) is a liquid container double pendulum. Different load forms are formed to carry out corresponding experimental verification.

[0084] In a specific implementation, the controller PLC can access other microcontrollers such as Arduino, Raspberry Pi, STM32, etc., to realize more flexible and diverse controller configurations.

[0085] The controller can also be connected with a human-computer interaction module, and the controller and the human-computer interaction module are communicatively connected through an RS485 communication module and a network port module.

[0086] The human-computer interaction module displays process data generated during the control process of the measurement module, the distance measuring sensor, the inclination sensor, and the controller, and can also set parameters of the system and the controller through the human-computer interaction module.

[0087] The experimental platform disclosed in the embodiment controls the movement of the trolley along the support frame by arranging the first and second driving systems on both sides of the advancing direction of the trolley, and obtains the running speeds of the first and second driving systems through the measurement module, so as to realize the verification of the trolley synchronization function experiment, that is, the verification of the trolley anti-deviation function. The running distance of the trolley or the trolley is obtained, the actual running speed of the trolley or the trolley is determined through the running distance of the trolley or the trolley, the actual running speed is compared with the running speed obtained by the measurement module, the running speed error of the driving system is obtained, and the trajectory tracking error is obtained, thereby laying a solid foundation for the verification of the tracking control method. The load is modularly arranged, and the anti-swing control performance verification of different load forms is realized through the combination of the modules.

[0088] Embodiment 2

[0089] In this embodiment, a multi-stage pendulum three-dimensional bridge crane multifunctional experimental method is disclosed, comprising:

[0090] Obtaining the running speeds of the first and second driving systems;

[0091] The differences between the first driving system running speed, the second driving system running speed, and the set reference speed, and the difference between the first driving system running speed and the second driving system running speed are calculated respectively, and the first driving system and the second driving system are controlled according to the differences, so that the first driving system and the second driving system run synchronously.

[0092] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application but not to limit it. Although the present application has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the specific embodiments of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and any modification or equivalent replacement without departing from the spirit and scope of the present application should be covered in the protection scope of the claims of the present application.

Claims

1. A multi-stage pendulum three-dimensional bridge crane multifunctional experimental platform, characterized in that, It includes a support frame, a trolley, a hoisting mechanism, a hook, a load, a measurement module, and a controller; the trolley is mounted on the support frame and is driven to move along the support frame by a first drive system and a second drive system; the trolley is connected to the trolley and can move along the trolley; the hoisting mechanism is connected to the trolley; and the hook is connected to the hoisting mechanism. The measurement module is used to obtain the operating speeds of the first drive system and the second drive system; The controller is used to calculate the difference between the operating speed of the first drive system, the operating speed of the second drive system and the set reference speed, and the difference between the operating speed of the first drive system and the second drive system, and control the first drive system and the second drive system according to the difference to make the first drive system and the second drive system operate synchronously. The load is modularly designed, including point mass load modules, distributed mass load modules, and liquid container load modules. Different load modules and hoisting methods are combined to form point mass single-stage pendulums, point mass double-stage pendulums, distributed mass double-stage pendulums, and liquid container double-stage pendulums.

2. The multi-stage pendulum three-dimensional bridge crane multifunctional experimental platform as described in claim 1, characterized in that, The first drive system and the second drive system are located on opposite sides of the trolley's direction of movement.

3. The multi-stage pendulum three-dimensional bridge crane multifunctional experimental platform as described in claim 1, characterized in that, The trolley is driven to move along the trolley by the third drive system. The measurement module is also used to obtain the operating speed of the third drive system. The controller is also used to control the third drive system according to the operating speed of the third drive system.

4. The multi-stage pendulum three-dimensional bridge crane multifunctional experimental platform as described in claim 3, characterized in that, The third drive system includes two drive wheels and a trolley motor. The two drive wheels are located on both sides of the trolley's forward direction. The trolley motor is connected to a reducer, and the output end of the reducer is connected to one of the drive wheels. This drive wheel is connected to the other drive wheel through a universal joint. The trolley motor drives the two drive wheels to rotate, thereby driving the trolley to move along the trolley.

5. The multi-stage pendulum three-dimensional bridge crane multifunctional experimental platform as described in claim 1, characterized in that, The vehicle is equipped with a distance sensor to obtain the vehicle's running distance. The measurement module is also used to obtain the vehicle's running speed. The controller is also used to determine the vehicle's actual running speed based on the running distance. The actual running speed of the vehicle is compared with the running speed obtained by the measurement module to obtain the running speed error of the vehicle. The running speed error is used to control the running trajectory of the vehicle.

6. The multi-stage pendulum three-dimensional bridge crane multifunctional experimental platform as described in claim 1, characterized in that, Distance sensors are installed on both sides of the trolley's forward direction to obtain the running distance between the two ends of the trolley. The controller is used to determine the actual running speed of the two ends of the trolley based on the running distance. The actual running speed of each end is compared with the running speed obtained by the corresponding end's measurement module to obtain the running speed error of each end. The trolley's two ends are then tracked and controlled based on the running speed error.

7. The multi-stage pendulum three-dimensional bridge crane multifunctional experimental platform as described in claim 1, characterized in that, It also includes the load, which is suspended on the hook.

8. The multi-stage pendulum three-dimensional bridge crane multifunctional experimental platform as described in claim 1, characterized in that, Inclination sensors are installed on both the hook and the load to obtain the measured values ​​of the swing angle of the hook and the load. The inclination sensors are connected to the controller, which is used to obtain the swing angle of the hook or the load based on the measured values ​​of the swing angle of the hook or the load.

9. A multi-functional experimental method for a multi-stage pendulum three-dimensional bridge crane, characterized in that, The multi-stage pendulum three-dimensional bridge crane multifunctional experimental platform as described in any one of claims 1-8 includes: Obtain the operating speeds of the first and second drive systems; The differences between the operating speed of the first drive system, the operating speed of the second drive system and the set reference speed are calculated respectively, as well as the difference between the operating speeds of the first drive system and the second drive system. Based on the differences, the first drive system and the second drive system are controlled respectively to make the first drive system and the second drive system operate synchronously.

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