Operation control method and system for lifting appliance of crane

Abstract

The invention relates to the technical field of crane control, and discloses a crane sling operation control method and system.The crane sling operation control method comprises the steps that state parameters of a local machine sling and motion parameters and wind load data of an adjacent machine are obtained, and the state parameters comprise the swing angle and the swing frequency; the motion parameters comprise the cart transverse moving speed, the rotation angular speed and the distance between the adjacent machine and the local machine; the wind load data comprises wind speed and wind direction; analyzing the motion parameters and the wind load data to obtain an influence factor of the adjacent machine on the swinging of the lifting appliance of the local machine; and triggering a graded swing suppression strategy according to the influence factors, generating swing suppression operation parameters in combination with the state parameters, and executing the local lifting appliance operation according to the swing suppression operation parameters. According to the method and the system disclosed by the invention, the problem of sling swing control caused by adjacent crane movement and wind load coupling effect during cooperative operation of a plurality of cranes is solved, the cooperative safety of the multiple cranes is enhanced, and the operation positioning precision and the operation efficiency of the cranes are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of crane control, and in particular to a crane spreader operation control method and system. Background Art

[0002] As essential loading and unloading equipment in ports and large logistics hubs, gantry cranes are commonly used for lifting containers, bulk cargo, and heavy materials. With the continuous advancement of port automation and intelligentization, more and more cranes are adopting unmanned or remote control, enabling the coordinated operation of multiple devices to improve operational efficiency and terminal throughput capacity.

[0003] Crane spreaders are prone to swinging during lifting and moving, which affects operational efficiency and safety and is a difficult problem in the process of realizing crane automation. Currently, most anti-swing control methods for gantry cranes are based on the assumption of single-machine operation, and mainly rely on the local motion state and the spreader swing signal for closed-loop control, such as using PID algorithms, fuzzy control, etc. to suppress the spreader's swing. However, in the scenario of multi-machine collaborative operation, the single-machine anti-swing control fails to fully consider the dynamic interference caused by the movement of neighboring machines and external factors such as wind load, and its anti-swing effect has obvious limitations: if the neighboring machine suddenly starts, accelerates, stops suddenly or rotates sharply, the local spreader is extremely susceptible to disturbances, resulting in unexpected swings, resulting in a decrease in the spreader's positioning accuracy, an increase in operational safety risks, and in severe cases, even equipment collision accidents. Summary of the Invention

[0004] To this end, the purpose of the present invention is to overcome the limitations of the single-machine operation suppression scheme in the existing technology in the multi-machine collaborative operation scenario, and to provide a crane sling operation control method and system to solve the problem of sling swing control caused by the coupling of adjacent machine movement and wind load when multiple cranes work together, improve the sling suppression capability, enhance the safety of multi-machine collaboration, and improve the crane operation positioning accuracy and operation efficiency.

[0005] In a first aspect, to solve the above-mentioned technical problems, the present invention provides a crane spreader operation control method for collaborative operation of multiple cranes, wherein the multiple cranes include the crane itself and at least one adjacent crane. The control method includes: Acquiring state parameters of the local spreader, wherein the state parameters include a swing angle and a swing frequency; Obtaining motion parameters of the neighboring machine, wherein the motion parameters include a trolley lateral speed, a rotational angular velocity, and a distance between the neighboring machine and the host machine; Acquiring wind load data, wherein the wind load data includes wind speed and wind direction; Analyzing the motion parameters and wind load data to obtain the influence factor of the neighboring machine on the swing of the local spreader; A hierarchical swing suppression strategy is triggered according to the influencing factors, and a swing suppression operation parameter is generated in combination with the state parameter, and the local spreader operation is performed according to the swing suppression operation parameter.

[0006] Preferably, the analysis of the motion parameters and wind load data to obtain the influence factor of the neighboring machine on the swing of the local hoist includes: analyzing the motion parameters to obtain a mechanical interference component; the mechanical interference component characterizes the influence of the neighboring machine motion on the swing of the local hoist through mechanical coupling; analyzing the wind load data to obtain an aerodynamic interference component; the aerodynamic interference component characterizes the influence of wind load on the swing of the local hoist; and weighted fusion of the mechanical interference component and the aerodynamic interference component to obtain the influence factor.

[0007] Preferably, the mechanical interference component is obtained according to the following method: ; K1 represents the mechanical interference component; Indicates the lateral movement speed of the adjacent trolley; t0 indicates the sway suppression response time; It represents the angle between the lateral movement direction of the neighboring crane and the swing plane of the own crane's hoist; d represents the horizontal distance between the neighboring crane and the own crane; Indicates the angular velocity of the neighboring machine; Indicates the distance attenuation coefficient, the value is 0.1~0.3m -1 .

[0008] Preferably, the aerodynamic interference component is obtained according to the following method: ; K2 represents the aerodynamic interference component; Indicates air density; A is the windward area of ​​the spreader; V indicates wind speed; It indicates the angle between the wind direction and the swing plane of the spreader; mg indicates the weight of the cargo carried by the spreader.

[0009] Preferably, triggering a graded swing suppression strategy according to the impact factor includes: presetting a first threshold and a second threshold of the impact factor, the first threshold being greater than the second threshold; if the impact factor is greater than the first threshold, triggering a first-level swing suppression strategy; if the impact factor is less than or equal to the first threshold and greater than or equal to the second threshold, triggering a second-level swing suppression strategy; if the impact factor is less than the second threshold, triggering a third-level swing suppression strategy.

[0010] Preferably, the sway suppression strategy includes adjusting the reverse torque of the servo motor of the machine; generating the sway suppression operation parameters of the local spreader according to the sway suppression strategy and the state parameters includes: taking the swing angle and swing angular velocity of the local spreader as feedback variables, determining the reverse torque adjustment amount of the servo motor of the machine based on the PID control algorithm; correcting the reverse torque adjustment amount of the servo motor according to the swing frequency of the local spreader; and generating the sway suppression operation parameters of the local spreader based on the corrected reverse torque adjustment amount of the servo motor.

[0011] Preferably, the servo motor reverse torque adjustment amount is corrected according to the swing frequency of the local spreader, including: presetting a spreader swing frequency safety threshold; if the swing frequency of the local spreader exceeds the frequency safety threshold, correcting the differential coefficient of the PID control algorithm based on the following method: ; represents the differential coefficient after correction; Kd represents the differential coefficient before correction; f represents the swing frequency of the local spreader; f* ​​represents the frequency safety threshold.

[0012] Preferably, the swing suppression strategy includes adjusting the hydraulic damping force of the machine; generating the swing suppression operation parameters of the machine's sling based on the swing suppression strategy and the state parameters also includes: presetting a sling swing frequency safety threshold; presetting the rated hydraulic damping force of the machine, and determining the actual hydraulic damping force based on the adjustment coefficient and the rated hydraulic damping force; if the swing frequency of the machine's sling exceeds the frequency safety threshold, increasing the adjustment coefficient.

[0013] Preferably, the swing suppression operation parameters include the reverse torque of the servo motor and the hydraulic damping force; performing the local sling operation according to the swing suppression operation parameters includes: converting the reverse torque output value of the servo motor into a PWM signal and sending it to the servo driver; converting the hydraulic damping force output value into a control current and sending it to the hydraulic proportional valve.

[0014] In a second aspect, based on the same inventive concept, the present invention provides a crane spreader operation control system for collaborative operation of multiple cranes, wherein the multiple cranes include the crane itself and at least one adjacent crane, the control system comprising: The machine status monitoring module is used to obtain the status parameters of the machine spreader, the status parameters including the swing angle and the swing frequency; A neighboring machine motion monitoring module is used to obtain the motion parameters of the neighboring machine, which include the trolley's transverse speed, the slewing angular velocity, and the distance between the neighboring machine and the host machine; A wind load monitoring module is used to obtain wind load data, including wind direction and wind speed; An influence factor determination module is used to calculate a mechanical interference component and an aerodynamic interference component based on the motion parameters and wind load data, and to weightedly fuse the mechanical interference component and the aerodynamic interference component to obtain an influence factor of the neighboring machine on the swing of the local spreader; a swing suppression strategy decision module, configured to trigger a hierarchical swing suppression strategy according to the influencing factors and generate swing suppression operation parameters in combination with the state parameters; An execution module is used to control the operation of the local spreader according to the swing suppression operation parameters.

[0015] The above technical solution of the present invention has the following beneficial effects compared with the prior art: The crane spreader operation control method and system described in the present invention solve the problem of spreader swing control caused by the coupling of adjacent machine movement and wind load when multiple cranes work together, effectively suppress the swing of the local spreader, shorten the spreader swing suppression response time, enhance the safety of multi-machine collaboration, and improve the positioning accuracy and operation efficiency of crane operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings, wherein: Figure 1 Flowchart of a crane spreader operation control method in a preferred embodiment of the present invention; Figure 2 Flowchart for obtaining impact factors in a preferred embodiment of the present invention; Figure 3 It is a structural block diagram of the crane spreader operation control system in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0018] The gantry crane's trolley and slewing mechanism are the two core motion mechanisms, responsible for horizontal linear movement and rotational motion, respectively, directly impacting the crane's operating range and flexibility. The gantry propels the crane longitudinally and transversely along tracks or the ground, expanding its operational reach. The gantry's core components include the traveling trolley, drive system (motor + reducer + coupling), and track system. The slewing mechanism enables 360° rotation of the crane's superstructure (slewing platform) for precise load positioning. Its core components include the slewing bearing and slewing drive (motor + reducer + pinion meshing with the slewing bearing ring gear).

[0019] In practice, the lateral movement of the trolley and the rotation of the slewing platform of a spatially adjacent crane (hereinafter referred to as the "neighboring crane") significantly interfere with the swing of the spreader of the current crane (hereinafter referred to as the "this crane"), creating a superimposed interference with the swing of the spreader's own operation. The lateral movement of the neighboring crane's trolley affects the swing of the local spreader in the following ways: Path 1: When the trolley moves laterally, friction / impact between the wheels and the track generates vibrations, which are transmitted to the local spreader's track through the track foundation, causing slight vibrations in the local spreader's gantry and indirectly leading to low-frequency swing of the spreader. Path 2: When the neighboring crane moves laterally rapidly, it squeezes the air, forming local airflow changes (such as vortices), which generate lateral forces on the spreader (especially lightweight, unloaded spreaders).

[0020] The ways in which the neighboring machine's rotation affects the swing of the local spreader include: Way 1: Structural vibration transmission. When the neighboring machine rotates, the gear meshing impact of its slewing support and the vibration of the drive motor will be transmitted to the local spreader through the track foundation, causing slight vibration of the local gantry or supporting structure, indirectly causing low-frequency swing of the spreader; for example, if the neighboring machine's rotation acceleration is 0.3m / s 2 After being transmitted through the rigid foundation, the local spreader may experience an additional swing amplitude of 2-5 cm (inversely proportional to the distance). Path 2: Aerodynamic disturbance. When the neighboring machine rotates, the superstructure (such as the counterweight and boom) moves rapidly in the air, generating local vortices or air pressure fluctuations, which exert lateral forces on lightly loaded spreaders (such as those for empty containers). For example, at a wind speed of 10 m / s and the rapid rotation of the neighboring machine (above 1 rpm), the spreader swing amplitude may increase by 10%-20%. Path 3: Dynamic load interference. If the neighboring machine's rotation frequency (e.g., 0.1-0.5 Hz) is close to the natural frequency of the local spreader (typically 0.2-1 Hz), it may induce resonant amplification of the swing.

[0021] In addition, the impact of wind load on the swing of crane spreaders is a key issue that cannot be ignored in ports, high-altitude operations and open-air environments. It includes direct wind force, as well as wind load causing elastic deformation of the gantry and boom, which amplifies the swing amplitude of the spreader; the wind force causes the wire rope to swing in a catenary shape, which is further transmitted to the spreader.

[0022] The purpose of the embodiments of the present invention is to solve the problem of controlling the swing of the spreader caused by the coupling of the movement of adjacent cranes and wind loads when multiple cranes work together, and to provide a crane spreader operation control method and system.

[0023] The system architecture and hardware configuration for executing this control method include: Sensor system The machine's spreader status perception uses a high-precision IMU (Inertial Measurement Unit) with a sampling frequency of ≥100Hz, which can measure the swing angle (accuracy ±0.1°) and swing frequency (accuracy ±0.05Hz).

[0024] The motion parameters of neighboring machines are acquired in real time through a multi-machine communication network (industrial Ethernet, communication delay <1ms), including the trolley's lateral speed (measured by encoder, accuracy ±0.01m / s), angular velocity (rotary encoder, accuracy ±0.01rad / s), and horizontal distance (laser rangefinder, accuracy ±0.05m).

[0025] Wind load data were collected by an anemometer (sampling rate ≥ 10 Hz, range 0–30 m / s, accuracy ± 0.5 m / s) and a wind direction sensor (resolution 1°, accuracy ± 2°).

[0026] Control and computing unit The edge controller uses an embedded industrial computer with a computing power of ≥4TOPS and a control cycle of ≤10ms. The communication module supports industrial Ethernet (Profinet / EtherCAT) and wireless communication (Wi-Fi 6, bandwidth ≥100Mbps).

[0027] Actuator Servo motor (rated torque 1000 N·m, response time <5ms) and driver, used to adjust the reverse torque of the spreader; Hydraulic proportional valve (response time <10ms) and damper are used to adjust the hydraulic damping force.

[0028] The software architecture is divided into data layer, algorithm layer and execution layer, which are respectively responsible for sensor data acquisition and preprocessing, influencing factor calculation and hierarchical suppression strategy generation, and control instruction output.

[0029] Example 1: Reference Figure 1 As shown, an embodiment of the present invention discloses a crane spreader operation control method for collaborative operation of multiple cranes, wherein the multiple cranes include the crane itself and at least one adjacent crane. The control method includes: S100, obtaining state parameters of the spreader of the machine, wherein the state parameters include a swing angle and a swing frequency; Obtaining motion parameters of the neighboring machine, wherein the motion parameters include a trolley lateral speed, a rotational angular velocity, and a distance between the neighboring machine and the host machine; Acquiring wind load data, wherein the wind load data includes wind speed and wind direction; S200, analyzing the motion parameters and wind load data to obtain an influence factor of the neighboring machine on the swing of the local spreader; S300 , triggering a graded swing suppression strategy according to the influencing factors, generating swing suppression operation parameters in combination with the state parameters, and executing the local spreader operation according to the swing suppression operation parameters.

[0030] In this specific application scenario, the state parameters of the local spreader are obtained by obtaining Euler angles through the inertial measurement unit (IMU) to calculate the swing angle of the local spreader. The swing frequency is obtained by extracting the fundamental frequency component through a fast Fourier transform of the swing angle. The lateral speed of the neighboring crane's trolley is measured by an encoder, and the angular velocity of the neighboring crane's trolley is measured by a rotary encoder and shared via a communication network. A laser rangefinder measures the horizontal distance between the local and neighboring crane's foundation tracks. Wind speed is measured by an anemometer, and wind direction is measured by a wind direction sensor. The wind direction here is the angle relative to the windward side of the local spreader.

[0031] The factors influencing the swing of the local spreader due to the motion of the neighboring machine include the trolley's transverse movement and the slewing mechanism's rotation. The first influence of the neighboring machine's motion on the local spreader's swing is determined by combining the trolley's transverse movement speed and the slewing mechanism's rotational angular velocity. The second influence of the wind load on the local spreader's swing is also determined. Transverse movement and slewing act on the local spreader through mechanical coupling, causing low-frequency swings. Wind loads act on the local spreader, generating lateral forces that induce high-frequency random swings. The influence factor is obtained by fusing the first and second influence factors. This overcomes the drawback of single-machine slewing suppression technology, which relies solely on the local spreader's state parameters. By fusing the neighboring machine's trolley's transverse movement speed, rotational angular velocity, and wind load, the dynamic effects of the neighboring machine's motion and wind load on the spreader's swing are precisely quantified, reducing the impact identification error rate to below 5%.

[0032] The system quantifies the degree of sway impact based on influencing factors, triggering a tiered sway suppression strategy, including strong sway suppression, standard sway suppression, and maintenance mode. For example, in the strong sway suppression strategy, the servo motor's reverse torque is adjusted to 100%-120% of the rated value, and the hydraulic damping force is adjusted to the maximum damping force. In the standard sway suppression strategy, the servo motor's reverse torque is adjusted to 70%-90% of the rated value, and the hydraulic damping force is adjusted to 60%-80% of the maximum damping force. In the maintenance mode, the servo motor's reverse torque is adjusted to 50%-60% of the rated value, and the hydraulic damping force is adjusted to 30%-40% of the maximum damping force.

[0033] The system generates sway suppression parameters based on the current swing angle and frequency of the spreader, including the total torque of the servo motor and the total damping force of the hydraulic damper. These parameters are then used to drive the crane's motion mechanism. This eliminates the limitations of fixed parameters in traditional PID control and dynamically adjusts the sway suppression parameters based on influencing factors, matching them to changes in influence intensity in real time. This significantly shortens the spreader's sway suppression response time and significantly improves the efficiency of suppressing spreader swing amplitude.

[0034] Based on this, the crane sling operation control method described in the present invention solves the problem of sling swing control caused by the coupling of adjacent machine movement and wind load when multiple cranes work together, effectively suppresses the swing of the local sling, shortens the sling swing suppression response time, enhances the safety of multi-machine collaboration, and improves the crane operation positioning accuracy and operation efficiency.

[0035] Based on the above implementation plan, refer to Figure 2 As shown, the analysis of the motion parameters and wind load data to obtain the influence factor of the neighboring machine on the swing of the local spreader includes: analyzing the motion parameters to obtain a mechanical interference component; the mechanical interference component characterizes the influence of the neighboring machine motion on the swing of the local spreader through mechanical coupling; analyzing the wind load data to obtain an aerodynamic interference component; the aerodynamic interference component characterizes the influence of wind load on the swing of the local spreader; and weighted fusion of the mechanical interference component and the aerodynamic interference component to obtain the influence factor.

[0036] In specific application scenarios, in high-density operating environments such as ports and shipyards, when multiple cranes work together, the movement of neighboring machines (lateral movement and rotation of trolleys) and wind loads will cause the local spreader to swing through mechanical vibration transmission and aerodynamic disturbances, affecting positioning accuracy and safety. The movement of neighboring machines transmits vibrations through the track foundation or air medium, forming a mechanical interference component; by analyzing the motion parameters, the mechanical interference component is obtained, and the mechanical interference component is used to quantify the influence of the neighboring machine movement on the swing of the local spreader through mechanical coupling; the lateral force of the wind load on the spreader forms an aerodynamic interference effect, and by analyzing the wind load data, the aerodynamic interference component is obtained, and the aerodynamic influence of the wind load on the swing of the spreader is characterized by the aerodynamic interference component; the entropy weight method is used to weightedly fuse the mechanical interference component and the aerodynamic interference component to obtain the influence factor. By separating the mechanical interference component and the aerodynamic interference component, modeling them and weightedly fusing them, the fine quantification of the neighboring machine movement and wind load interference is achieved, effectively improving the adaptability and pertinence of the swing suppression strategy.

[0037] Specifically, the mechanical interference component is obtained according to the following method: ; K1 represents the mechanical interference component; Indicates the lateral movement speed of the adjacent trolley; t0 indicates the sway suppression response time; It represents the angle between the lateral movement direction of the neighboring crane and the swing plane of the own crane's hoist; d represents the horizontal distance between the neighboring crane and the own crane; Indicates the angular velocity of the neighboring machine; Indicates the distance attenuation coefficient, the value is 0.1~0.3m -1 .

[0038] Mechanical interference components include trolley movement interference components and rotary centrifugal interference components: Characterizes the disturbance component of trolley movement, reflecting the intensity of the transient impact force transmitted to the trolley through the track / foundation by the translational motion of the adjacent trolley; Indicates the effective displacement of the adjacent trolley during the response time t0; the lateral speed The faster it is, the greater the lateral thrust on the machine; the closer the distance between the two machines is, the stronger the mechanical vibration transmission is; the greater the angle between the movement direction of the adjacent machine and the swing direction of this machine, the smaller the impact.

[0039] Characterizes the rotational centrifugal interference component and reflects the intensity of the periodic centrifugal interference transmitted by the rotational motion of the adjacent machine through the structure; Characterizes the exponential decay of vibration waves with distance in metal structures; attenuation coefficient Depends on the track material (e.g. steel rail λ≈0.15 m -1 ).

[0040] The mechanical interference components obtained by the above method can accurately identify the interference source. For example, when the vehicle moves in a dominant position, the trajectory optimization strategy is triggered (such as the machine moves in reverse in advance); when the rotary motion is dominant, the reverse torque compensation of the rotary mechanism is activated. Automatically adjusts sway suppression: When d < 10 m, an exponential term significantly increases the centrifugal disturbance component, increasing sway suppression by 30%. When d > 30 m, the centrifugal disturbance component is ignored. Furthermore, a t0 function is introduced to compensate for control delay.

[0041] Specifically, the aerodynamic interference component is obtained according to the following method: ; K2 represents the aerodynamic interference component; Indicates air density (1.225kg / m 3 A is the windward area of ​​the spreader, which is determined according to the load type: for example, container load: A=8m²; bulk load: A=5m²; V represents the wind speed; It indicates the angle between the wind direction and the swing plane of the local spreader; mg indicates the weight of the cargo carried by the local spreader, reflecting the inertial reference force of the spreader to resist wind load.

[0042] Characterizes the dynamic pressure of airflow acting on the spreader; Characterizes the effective effect ratio of wind direction projected onto the swing direction (the impact is minimal in crosswind); the aerodynamic interference component determined based on the above method is directly related to wind speed, mass and wind direction, and can adapt to complex working conditions such as no-load / full-load and different wind directions.

[0043] On the basis of the above implementation plan, a hierarchical swing suppression strategy is triggered according to the impact factor, including: presetting a first threshold and a second threshold of the impact factor, the first threshold being greater than the second threshold; if the impact factor is greater than the first threshold, a first-level swing suppression strategy is triggered; if the impact factor is less than or equal to the first threshold and greater than or equal to the second threshold, a second-level swing suppression strategy is triggered; if the impact factor is less than the second threshold, a third-level swing suppression strategy is triggered.

[0044] In specific application scenarios, the first threshold is set as the dangerous critical value that the influencing factor may reach (such as the swing angle exceeds the maximum allowable value within the safety range, and the swing angular velocity exceeds the equipment load limit); the second threshold is set as the critical value at which the influencing factor requires intervention but has not reached the dangerous value (such as the swing angle is close to but does not exceed the safety range, and the swing angular velocity is within the tolerable range).

[0045] Level 1 sway suppression strategy: triggered when the impact factor is greater than the first threshold, the servo motor reverse torque output value is 100%~120% of the rated torque, and the hydraulic damping force adjustment value is 100% of the maximum damping force.

[0046] Secondary sway suppression strategy: triggered when the second threshold ≤ impact factor ≤ first threshold, the servo motor reverse torque output value is 70%~90% of the rated torque, and the hydraulic damping force adjustment value is 60%~80% of the maximum damping force.

[0047] Three-level sway suppression strategy: triggered when the impact factor is less than the second threshold, the servo motor reverse torque output value is 50%~60% of the rated torque, and the hydraulic damping force adjustment value is 30%~40% of the maximum damping force.

[0048] In the embodiment of the present invention, precise control of the swing of the crane hoist is achieved by setting the influencing factor thresholds in a hierarchical manner and matching differentiated swing suppression strategies; the hierarchical swing suppression strategy is used to solve the contradictory problems of "excessive suppression leading to efficiency loss" and "insufficient suppression causing safety risks" in traditional swing suppression technology, and significant improvements are achieved in key indicators such as swing suppression effect, operating efficiency, and equipment life.

[0049] On the basis of the above implementation scheme, the sway suppression strategy includes adjusting the reverse torque of the servo motor of the machine; generating the sway suppression operating parameters of the machine hoist according to the sway suppression strategy and the state parameters includes: taking the swing angle and swing angular velocity of the machine hoist as feedback variables, determining the servo motor reverse torque adjustment amount of the machine based on the PID control algorithm; correcting the servo motor reverse torque adjustment amount according to the swing frequency of the machine hoist; generating the sway suppression operating parameters of the machine hoist based on the corrected servo motor reverse torque adjustment amount. In the embodiment of the present invention, after the frequency correction is introduced, the sway suppression error under the resonance condition is reduced; the PID basic control superimposes the frequency adaptation to reduce the difference in the stabilization time under different rope length conditions; thus, through the synergistic effect of the PID control of dynamic frequency correction and feedforward compensation, the sway suppression effect of the crane hoist is significantly improved.

[0050] Specifically, the servo motor reverse torque adjustment amount is corrected according to the swing frequency of the local spreader, including: presetting a spreader swing frequency safety threshold; if the swing frequency of the local spreader exceeds the frequency safety threshold, correcting the differential coefficient of the PID control algorithm based on the following method: ; represents the differential coefficient after correction; Kd represents the differential coefficient before correction; f represents the swing frequency of the crane's spreader; f* ​​represents the frequency safety threshold, which is determined based on the crane's natural frequency, servo bandwidth, and sensor performance. For example, it is set to 0.5~1.2Hz.

[0051] When the swing frequency Exceeding safety threshold When the spreader swings, it shows a rapid oscillation characteristic. The traditional fixed differential coefficient is difficult to suppress the high-frequency energy accumulation in time. The differential coefficient is amplified by a factor, making the differential term more sensitive to high-frequency error variations and accelerating swing attenuation. By increasing the differential action in advance, the swing peak is reduced; in addition, the system response time to high-frequency disturbances is shortened. Simultaneously, high-frequency torque compensation rapidly dissipates the swing kinetic energy, avoiding the risk of resonance. Thus, in this embodiment of the present invention, by dynamically adjusting the differential coefficient, the control system's ability to suppress high-frequency swings is enhanced, addressing the problem of the differential term's insufficient response to high-frequency disturbances in traditional PID control.

[0052] Based on the above implementation plan, the swing suppression strategy includes adjusting the hydraulic damping force of the machine; generating the swing suppression operation parameters of the machine's sling according to the swing suppression strategy and the state parameters also includes: presetting the sling swing frequency safety threshold; presetting the rated hydraulic damping force of the machine, and determining the actual hydraulic damping force based on the adjustment coefficient and the rated hydraulic damping force; if the swing frequency of the machine's sling exceeds the frequency safety threshold, increasing the adjustment coefficient.

[0053] In a specific application scenario, the rated hydraulic damping force is the maximum output force F_max (for example, F_max = 5000N) of the hydraulic damper measured through a loading test under standard operating conditions (20°C oil temperature, rated pressure 16MPa). In this embodiment of the present invention, dynamic adjustment of the hydraulic damping force improves the crane spreader's ability to suppress high-frequency swings.

[0054] Based on the above implementation scheme, the swing control parameters include the servo motor's reverse torque and the hydraulic damping force. Executing the machine's spreader operation based on these swing control parameters involves converting the servo motor's reverse torque output into a PWM signal and sending it to the servo driver; and converting the hydraulic damping force output into a control current and sending it to the hydraulic proportional valve. Through PWM modulation and current conversion, torque / damping force control accuracy is improved.

[0055] Embodiment 2: The embodiment of the present invention provides a crane spreader operation control system for collaborative operation of multiple cranes, wherein the multiple cranes include the crane itself and at least one adjacent crane, Figure 3 As shown, the control system includes: The machine status monitoring module is used to obtain the status parameters of the machine spreader, the status parameters including the swing angle and the swing frequency; A neighboring machine motion monitoring module is used to obtain the motion parameters of the neighboring machine, which include the trolley's transverse speed, the slewing angular velocity, and the distance between the neighboring machine and the host machine; A wind load monitoring module is used to obtain wind load data, including wind direction and wind speed; An influence factor determination module is used to calculate a mechanical interference component and an aerodynamic interference component based on the motion parameters and wind load data, and to weightedly fuse the mechanical interference component and the aerodynamic interference component to obtain an influence factor of the neighboring machine on the swing of the local spreader; a swing suppression strategy decision module, configured to trigger a hierarchical swing suppression strategy according to the influencing factors and generate swing suppression operation parameters in combination with the state parameters; An execution module is used to control the operation of the local spreader according to the swing suppression operation parameters.

[0056] The embodiment of the present invention and the first embodiment are based on the same inventive concept and have the same technical effects, and will not be described in detail here.

[0057] In summary, the crane sling operation control method and system described in the present invention solves the problem of sling swing control caused by the coupling of adjacent machine movement and wind load when multiple cranes work together, effectively suppresses the swing of the local sling, shortens the sling swing suppression response time, enhances the safety of multi-machine collaboration, and improves the crane operation positioning accuracy and operation efficiency.

[0058] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0059] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0060] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0061] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0062] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A crane spreader operation control method for collaborative operation of multiple cranes, wherein the multiple cranes include the crane itself and at least one adjacent crane, characterized in that: The control method includes: Obtaining state parameters of the spreader of the machine, wherein the state parameters include swing angle and swing frequency; Obtaining motion parameters of the neighboring machine, wherein the motion parameters include a trolley lateral speed, a rotational angular velocity, and a distance between the neighboring machine and the host machine; Acquiring wind load data, wherein the wind load data includes wind speed and wind direction; Analyzing the motion parameters and wind load data to obtain the influence factor of the neighboring machine on the swing of the local spreader; A hierarchical swing suppression strategy is triggered according to the influencing factors, and a swing suppression operation parameter is generated in combination with the state parameter, and the local spreader operation is performed according to the swing suppression operation parameter.

2. The crane spreader operation control method according to claim 1, characterized in that: The analyzing the motion parameters and wind load data to obtain the influence factor of the neighboring machine on the swing of the local spreader includes: Analyzing the motion parameters to obtain a mechanical interference component; the mechanical interference component represents the influence of the motion of the neighboring machine on the swing of the local spreader through mechanical coupling; Analyzing the wind load data to obtain an aerodynamic interference component; the aerodynamic interference component represents the effect of the wind load on the swing of the local spreader; The mechanical interference component and the aerodynamic interference component are weightedly fused to obtain the impact factor.

3. The crane spreader operation control method according to claim 2, characterized in that: The mechanical interference component is obtained according to the following method: ； K1 represents the mechanical interference component; Indicates the lateral movement speed of the adjacent trolley; t0 indicates the sway suppression response time; It represents the angle between the lateral movement direction of the neighboring crane and the swing plane of the own crane's hoist; d represents the horizontal distance between the neighboring crane and the own crane; Indicates the angular velocity of the neighboring machine; Indicates the distance attenuation coefficient, the value is 0.1~0.3m -1 .

4. The crane spreader operation control method according to claim 2, characterized in that: The aerodynamic interference component is obtained according to the following method: ； K2 represents the aerodynamic interference component; Indicates air density; A is the windward area of ​​the spreader; V indicates wind speed; It indicates the angle between the wind direction and the swing plane of the spreader; mg indicates the weight of the cargo carried by the spreader.

5. The crane spreader operation control method according to claim 1, characterized in that: The hierarchical suppression strategy is triggered according to the impact factors, including: Presetting a first threshold and a second threshold of the impact factor, wherein the first threshold is greater than the second threshold; If the impact factor is greater than the first threshold, a first-level swing suppression strategy is triggered; If the impact factor is less than or equal to the first threshold and greater than or equal to the second threshold, the secondary swing suppression strategy is triggered; If the impact factor is less than the second threshold, the third-level swing suppression strategy is triggered.

6. The crane spreader operation control method according to claim 1 or 5, characterized in that: The sway suppression strategy includes adjusting the reverse torque of the servo motor of the machine; Generating the swing suppression operation parameters of the local spreader according to the swing suppression strategy and the state parameters includes: The swing angle and the swing angular velocity of the machine's spreader are used as feedback variables, and the reverse torque adjustment amount of the machine's servo motor is determined based on a PID control algorithm; Correcting the reverse torque adjustment amount of the servo motor according to the swing frequency of the local spreader; The swing suppression operation parameters of the local spreader are generated based on the corrected reverse torque adjustment amount of the servo motor.

7. The crane spreader operation control method according to claim 6, characterized in that: Correcting the reverse torque adjustment amount of the servo motor according to the swing frequency of the local spreader includes: Preset safety threshold of spreader swing frequency; If the swing frequency of the local spreader exceeds the frequency safety threshold, the differential coefficient of the PID control algorithm is modified based on the following method: ； represents the differential coefficient after correction; Kd represents the differential coefficient before correction; f represents the swing frequency of the local spreader; f* ​​represents the frequency safety threshold.

8. The crane spreader operation control method according to claim 1 or 5, characterized in that: The swing suppression strategy includes adjusting the hydraulic damping force of the machine; generating the swing suppression operation parameters of the machine spreader according to the swing suppression strategy and the state parameters also includes: Preset safety threshold of spreader swing frequency; Presetting a rated hydraulic damping force of the machine, and determining an actual hydraulic damping force based on an adjustment coefficient and the rated hydraulic damping force; If the swing frequency of the local spreader exceeds the frequency safety threshold, the adjustment coefficient is increased.

9. The crane spreader operation control method according to claim 1, characterized in that: The swing suppression operation parameters include the servo motor reverse torque and the hydraulic damping force; and performing the local spreader operation according to the swing suppression operation parameters includes: Convert the reverse torque output value of the servo motor into a PWM signal and send it to the servo driver; The hydraulic damping force output value is converted into control current and sent to the hydraulic proportional valve.

10. A crane spreader operation control system for collaborative operation of multiple cranes, wherein the multiple cranes include the crane itself and at least one adjacent crane, characterized in that: The control system includes: The machine status monitoring module is used to obtain the status parameters of the machine spreader, the status parameters including the swing angle and the swing frequency; A neighboring machine motion monitoring module is used to obtain the motion parameters of the neighboring machine, which include the trolley's transverse speed, the slewing angular velocity, and the distance between the neighboring machine and the host machine; A wind load monitoring module is used to obtain wind load data, including wind direction and wind speed; An influence factor determination module is used to calculate a mechanical interference component and an aerodynamic interference component based on the motion parameters and wind load data, and to weightedly fuse the mechanical interference component and the aerodynamic interference component to obtain an influence factor of the neighboring machine on the swing of the local spreader; a swing suppression strategy decision module, configured to trigger a hierarchical swing suppression strategy according to the influencing factors and generate swing suppression operation parameters in combination with the state parameters; An execution module is used to control the operation of the local spreader according to the swing suppression operation parameters.

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