Crane spreader operation control method and system

Abstract

The present application relates to the technical field of crane control, and discloses a crane sling operation control method and system, which comprises obtaining state parameters of a local sling, motion parameters of a neighboring crane and wind load data, the state parameters comprising a swing angle and a swing frequency; the motion parameters comprising a trolley transverse movement speed, a rotary angular velocity and a distance between the neighboring crane and the local crane; and the wind load data comprising a wind speed and a wind direction; analyzing the motion parameters and the wind load data to obtain an influence factor of the neighboring crane on the swing of the local sling; triggering a hierarchical swing suppression strategy according to the influence factor and generating a swing suppression operation parameter in combination with the state parameters; and executing the local sling operation according to the swing suppression operation parameter. The method and system disclosed by the present application solve the problem of sling swing control caused by the coupling effect of neighboring crane motion and wind load during the cooperative operation of multiple cranes, enhance the safety of multi-crane cooperation, and improve the positioning accuracy and operation efficiency of the crane.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of crane control, in particular to a crane sling operation control method and system. BACKGROUND

[0002] The portal crane is an important handling equipment in the port and large logistics hub, and is often used for lifting and transporting containers, bulk cargo and heavy materials. With the continuous advancement of port automation and intelligence, more and more cranes begin to be controlled by unmanned or remote control, and multiple devices are coordinated to work to improve the work efficiency and the throughput capacity of the wharf.

[0003] The crane sling is prone to swing during lifting and moving, which affects the work efficiency and safety, and is a difficult problem in the process of realizing the automation of the crane. At present, the anti-swing control method of the portal crane is mostly based on the assumption of single machine operation, mainly relying on the closed-loop control of the motion state of the machine and the swing signal of the sling, such as using PID algorithm, fuzzy control and other methods to suppress the swing of the sling. However, in the multi-machine cooperative operation scene, the single machine anti-swing control does not fully consider the dynamic interference caused by the motion of the adjacent machine and external factors such as wind load, and its swing suppression effect has obvious limitations: when the adjacent machine suddenly starts, accelerates, stops or rotates greatly, the sling of the machine is easily disturbed, resulting in unexpected swing, which reduces the positioning accuracy of the sling and increases the safety risk of the operation, and in severe cases, it may even cause equipment collision accidents. SUMMARY

[0004] Therefore, the purpose of the present application is to overcome the limitations of the single machine operation swing suppression scheme in the multi-machine cooperative operation scene in the prior art, to provide a crane sling operation control method and system, to solve the problem of sling swing control caused by the coupling effect of the motion of the adjacent machine and the wind load when multiple cranes are cooperatively operated, to improve the swing suppression ability of the sling, to enhance the safety of multi-machine cooperation, and to improve the positioning accuracy and work efficiency of the crane operation.

[0005] In a first aspect, to solve the above technical problems, the present application provides a crane sling operation control method for multiple crane cooperative operation, wherein the multiple cranes include a machine and at least one adjacent machine, and the control method comprises:

[0006] Obtaining the state parameters of the sling of the machine, the state parameters including the swing angle and the swing frequency;

[0007] Obtaining the motion parameters of the adjacent machine, the motion parameters including the trolley traverse speed, the rotation angular velocity and the distance between the adjacent machine and the machine;

[0008] Obtaining the wind load data, the wind load data including the wind speed and the wind direction;

[0009] analyzing the motion parameters and the wind load data to obtain an influence factor of the adjacent crane on the swing of the local crane hoist;

[0010] triggering a hierarchical swing suppression strategy according to the influence factor, and generating a swing suppression operation parameter in combination with the state parameter, and executing the local crane hoist operation according to the swing suppression operation parameter.

[0011] Preferably, the analyzing the motion parameters and the wind load data to obtain an influence factor of the adjacent crane on the swing of the local crane hoist comprises: analyzing the motion parameters to obtain a mechanical interference component, the mechanical interference component representing the influence of the motion of the adjacent crane on the swing of the local crane hoist through mechanical coupling; analyzing the wind load data to obtain an aerodynamic interference component, the aerodynamic interference component representing the influence of the wind load on the swing of the local crane hoist; and weighting and fusing the mechanical interference component and the aerodynamic interference component to obtain the influence factor.

[0012] Preferably, the mechanical interference component is obtained according to the following manner:

[0013] ;

[0014] K1 represents the mechanical interference component; t0 represents a swing suppression response time; d represents a horizontal distance between the adjacent crane and the local crane; ω0 represents a rotation angular velocity of the adjacent crane; d represents a distance attenuation coefficient, and the value is 0.1-0.3 m -1 .

[0015] Preferably, the aerodynamic interference component is obtained according to the following manner:

[0016] ;

[0017] K2 represents the aerodynamic interference component; ρ represents air density; A represents a windward area of the local crane hoist; V represents wind speed; θ represents an angle between a wind direction and a swing plane of the local crane hoist; mg represents a weight of a cargo carried by the local crane hoist.

[0018] Preferably, triggering a hierarchical swing suppression strategy according to the influence factor comprises: presetting a first threshold value and a second threshold value of the influence factor, the first threshold value being greater than the second threshold value; triggering a first-level swing suppression strategy if the influence factor is greater than the first threshold value; triggering a second-level swing suppression strategy if the influence factor is less than or equal to the first threshold value and greater than or equal to the second threshold value; and triggering a third-level swing suppression strategy if the influence factor is less than the second threshold value.

[0019] Preferably, the sway suppression strategy includes adjusting the reverse torque of the servo motor of the machine; generating sway suppression operation parameters of the machine's lifting device based on the sway suppression strategy and the state parameters includes: determining the reverse torque adjustment amount of the servo motor of the machine based on a PID control algorithm, using the swing angle and swing angular velocity of the machine's lifting device as feedback variables; correcting the reverse torque adjustment amount of the servo motor based on the swing frequency of the machine's lifting device; and generating the sway suppression operation parameters of the machine's lifting device based on the corrected reverse torque adjustment amount of the servo motor.

[0020] Preferably, the correction of the servo motor reverse torque adjustment based on the swing frequency of the hoist includes: setting a preset hoist swing frequency safety threshold; if the swing frequency of the hoist exceeds the frequency safety threshold, then the derivative coefficients of the PID control algorithm are corrected based on the following method:

[0021] ;

[0022] represents the corrected differential coefficient; Kd represents the original differential coefficient; f represents the swing frequency of the machine's lifting device; f* represents the frequency safety threshold.

[0023] Preferably, the sway suppression strategy includes adjusting the hydraulic damping force of the machine; generating sway suppression operation parameters for the machine's spreader based on the sway suppression strategy and the state parameters further includes: setting a safety threshold for the spreader's swing frequency; setting a 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 spreader exceeds the frequency safety threshold, then increasing the adjustment coefficient.

[0024] Preferably, the sway suppression operation parameters include the servo motor reverse torque and the hydraulic damping force; performing the machine lifting tool operation according to the sway suppression operation parameters includes: converting the servo motor reverse torque output value into a PWM signal and sending it to the servo driver; and converting the hydraulic damping force output value into a control current and sending it to the hydraulic proportional valve.

[0025] Secondly, based on the same inventive concept, the present invention provides a crane lifting device operation control system for the coordinated operation of multiple cranes, wherein the multiple cranes include the original crane and at least one adjacent crane, and the control system includes:

[0026] The machine status monitoring module is used to acquire the status parameters of the machine's lifting device, including the swing angle and swing frequency.

[0027] The adjacent machine motion monitoring module is used to acquire the motion parameters of the adjacent machine, including the trolley's lateral speed, angular velocity, and the distance between the adjacent machine and the machine.

[0028] a wind load monitoring module configured to obtain wind load data, the wind load data including wind direction and wind speed;

[0029] an influence factor determining module configured to calculate mechanical interference components and aerodynamic interference components according to the motion parameters and the wind load data, and to obtain an influence factor of the adjacent crane on the swing of the local crane's spreader by weighted fusion of the mechanical interference components and the aerodynamic interference components;

[0030] a swing suppression strategy decision module configured to trigger a hierarchical swing suppression strategy according to the influence factor and to generate swing suppression operation parameters in combination with the state parameters;

[0031] an execution module configured to control the local crane's spreader operation according to the swing suppression operation parameters.

[0032] The above technical solutions of the present application have the following beneficial effects compared with the prior art:

[0033] The crane spreader operation control method and system of the present application solve the problem of spreader swing control caused by the coupling effect of adjacent crane motion and wind load during cooperative operation of multiple cranes, effectively suppress the swing of the local crane's spreader, shorten the spreader swing suppression response time, enhance the safety of multi-crane cooperation, and improve the positioning accuracy and operation efficiency of the crane operation. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to make the content of the present application more easily understood, the present application will be further described in detail below according to specific embodiments of the present application and in combination with the drawings, in which:

[0035] Figure 1 a flowchart of the crane spreader operation control method in the preferred embodiment of the present application;

[0036] Figure 2 a flowchart of obtaining the influence factor in the preferred embodiment of the present application;

[0037] Figure 3 a structural block diagram of the crane spreader operation control system in the preferred embodiment of the present application. DETAILED DESCRIPTION

[0038] The present application will be further described below in combination with the drawings and specific embodiments, so that those skilled in the art can better understand the present application and implement it, but the embodiments are not limiting to the present application.

[0039] The trolley and slewing of portal crane are two core motion mechanisms, responsible for horizontal linear movement and horizontal rotation movement respectively, which directly affect the operation range and flexibility of the crane. The trolley drives the crane to move longitudinally / laterally along the track or ground, expanding the operation coverage; the core components of the trolley include the walking trolley, drive system (motor + reducer + coupling) and track system. The slewing mechanism realizes 360° rotation of the superstructure (slewing platform) of the crane, accurately positioning the load, and its core components include slewing bearing and slewing drive (motor + reducer + pinion meshing slewing bearing ring).

[0040] In practice, the trolley traverse of the adjacent crane (hereinafter referred to as "neighbor") and the slewing of the slewing platform significantly interfere with the swing of the current crane's (hereinafter referred to as "this crane") spreader, forming superimposed interference with the swing of the spreader itself. The influence of the neighbor's trolley traverse on the spreader swing of this crane includes: Path one, when the trolley is traversing, the friction / impact between the wheels and the track generates vibration, which is transmitted to the track of this crane through the track foundation, causing micro-vibration of the portal of this crane, indirectly causing low-frequency swing of the spreader. Path two, when the neighbor quickly traverses, it squeezes the air, forming local airflow changes (such as vortex), which generates lateral force on the spreader (especially the lightweight empty spreader).

[0041] The influence of the neighbor's slewing on the spreader swing of this crane includes: Path one: structural vibration transmission, when the neighbor slews, the gear meshing impact of its slewing bearing and the vibration of the drive motor will be transmitted to this crane through the track foundation, causing micro-vibration of the portal or support structure of this crane, indirectly causing low-frequency swing of the spreader; for example, if the slewing acceleration of the neighbor is 0.3 m / s 2 , after transmission through the rigid foundation, the spreader of this crane may produce an additional swing of 2~5 cm (inversely proportional to the distance). Path two: aerodynamic disturbance, when the neighbor slews, the superstructure (such as counterweight, boom) moves rapidly in the air, generating local vortex or air pressure fluctuation, causing lateral force on the light load spreader (such as empty container spreader); for example, when the wind speed is 10 m / s and the neighbor slews quickly (above 1 rpm), the spreader swing may increase by 10%~20%. Path three: dynamic load interference, if the slewing frequency of the neighbor (such as 0.1~0.5 Hz) is close to the natural frequency of the spreader of this crane (usually 0.2~1 Hz), it may cause resonance amplification of the swing.

[0042] In addition, the influence of wind load on the swing of the crane spreader is a key problem that cannot be ignored in port, high-altitude operation and open-air environment, including direct wind action, and elastic deformation of the portal and boom caused by wind load, which amplifies the swing of the spreader; wind action makes the steel wire rope swing in a catenary, further transmitting to the spreader.

[0043] The embodiment of the present application aims to solve the problem of swing control of the spreader caused by the coupling effect of adjacent crane movement and wind load when multiple cranes work together, and provides a crane spreader operation control method and system.

[0044] The system architecture and hardware configuration for executing the control method include:

[0045] Sensor system

[0046] The local spreader state sensing uses a high-precision IMU (Inertial Measurement Unit) with a sampling frequency of 100Hz or more, which can measure the swing angle (accuracy ±0.1°) and swing frequency (accuracy ±0.05Hz).

[0047] Adjacent crane movement parameters are obtained in real time through a multi-machine communication network (industrial Ethernet, communication delay <1ms), including trolley traverse speed (encoder measurement, accuracy ±0.01m / s), rotation angular velocity (rotary encoder, accuracy ±0.01rad / s) and horizontal distance (laser range finder, accuracy ±0.05m).

[0048] Wind load data is collected by an anemometer (sampling rate ≥10Hz, range 0~30m / s, accuracy ±0.5m / s) and a wind direction sensor (resolution 1°, accuracy ±2°).

[0049] Control and calculation unit

[0050] The edge controller uses an embedded industrial computer with a computing power of 4TOPS and a control period of 10ms

[0051] The communication module supports industrial Ethernet (Profinet / EtherCAT) and wireless communication (Wi-Fi 6, bandwidth ≥100Mbps).

[0052] Actuator

[0053] Servo motor (rated torque 1000N·m, response time <5ms) and driver for adjusting the reverse torque of the spreader;

[0054] Hydraulic proportional valve (response time <10ms) and damper for adjusting the hydraulic damping force.

[0055] The software architecture is divided into data layer, algorithm layer and execution layer, which are respectively responsible for sensor data collection and preprocessing, influence factor calculation and hierarchical swing suppression strategy generation, and control instruction output.

[0056] Embodiment one: refer to Figure 1 The embodiment of the present application discloses a crane spreader operation control method for multiple cranes working together, which includes a local crane and at least one adjacent crane, and the control method includes:

[0057] S100, acquiring a state parameter of a local spreader, the state parameter including a swing angle and a swing frequency;

[0058] acquiring a motion parameter of the adjacent machine, the motion parameter including a cart transverse movement speed, a rotation angular velocity, and a distance between the adjacent machine and the local machine;

[0059] acquiring wind load data, the wind load data including a wind speed and a wind direction;

[0060] S200, analyzing the motion parameter and the wind load data to obtain an influence factor of the adjacent machine on the swing of the local spreader;

[0061] S300, triggering a hierarchical swing suppression strategy according to the influence factor, and generating a swing suppression operation parameter in combination with the state parameter, and performing the local spreader operation according to the swing suppression operation parameter.

[0062] In a specific application scenario, the local spreader state parameter is acquired by obtaining Euler angles through an inertial measurement unit (IMU) to calculate the swing angle of the local spreader, and the swing frequency is obtained by extracting a fundamental frequency component through fast Fourier transform of the swing angle. The adjacent machine cart transverse movement speed is measured by an encoder, the adjacent machine rotation angular velocity is measured by a rotary encoder, and is shared through a communication network. The horizontal distance between the local machine and the adjacent machine track is measured by a laser range finder. The wind speed is measured by an anemometer, and the wind direction is measured by a wind direction sensor. Here, the wind direction is an angle relative to the windward surface of the local spreader.

[0063] The influence factors of the adjacent machine motion on the swing of the local spreader include cart transverse movement and rotation of the rotation mechanism, and the influence amount one of the adjacent machine motion on the swing of the local spreader is determined in combination with the cart transverse movement speed and the rotation angular velocity, and the influence amount two of the wind load on the swing of the local spreader. The transverse movement and rotation are coupled to the local spreader through a machine to cause low-frequency swing, and the wind load acts on the local spreader to generate a lateral force to cause high-frequency random swing. The influence factor is obtained by fusing the influence amount one and the influence amount two. The single-machine swing suppression technology only depends on the local state parameter, and the dynamic influence of the adjacent machine motion and the wind load on the swing of the spreader is accurately quantified by fusing the adjacent machine cart transverse movement speed, the rotation angular velocity, and the wind load, and the influence identification error rate is reduced to below 5%.

[0064] According to the influence factor, the swing influence degree is quantified to trigger the hierarchical swing suppression strategy, including the strong swing suppression strategy, the conventional swing suppression strategy and the maintenance mode, etc., for example, under the strong swing suppression strategy, the reverse torque of the servo motor is adjusted to 100%~120% of the rated value, and the hydraulic damping force is adjusted to the maximum damping force; under the conventional swing suppression strategy, the reverse torque of the servo motor is adjusted to 70%~90% of the rated value, and the hydraulic damping force is adjusted to 60%~80% of the maximum damping force; under the maintenance mode, the reverse torque of the servo motor is adjusted to 50%~60% of the rated value, and the hydraulic damping force is adjusted to 30%~40% of the maximum damping force.

[0065] The swing suppression operation parameters are generated in combination with the current swing angle and the swing frequency of the crane sling, including the total torque of the servo motor and the total damping force of the hydraulic damper, and the crane movement mechanism is driven to perform operation according to the swing suppression operation parameters. The limitations of fixed parameters in the traditional PID control are abandoned, the swing suppression operation parameters are dynamically adjusted through the influence factor, the influence intensity change is matched in real time, the response time of the sling swing suppression is significantly shortened, and the swing amplitude suppression efficiency of the sling is significantly improved.

[0066] Based on this, the crane sling operation control method provided by the application solves the problem of sling swing control caused by the coupling effect of adjacent machine movement and wind load in the cooperative operation of multiple cranes, effectively suppresses the swing of the local sling, shortens the response time of the sling swing suppression, enhances the safety of multi-machine cooperation, and improves the positioning accuracy and operation efficiency of the crane operation.

[0067] On the basis of the above embodiments, referring to Figure 2 The analysis of the motion parameters and the wind load data obtains the influence factor of the adjacent machine on the local sling swing, including: analyzing the motion parameters to obtain a mechanical interference component; the mechanical interference component represents the influence of the adjacent machine movement on the local sling swing through mechanical coupling; analyzing the wind load data to obtain an aerodynamic interference component; the aerodynamic interference component represents the influence of the wind load on the local sling swing; and the mechanical interference component and the aerodynamic interference component are weighted and fused to obtain the influence factor.

[0068] In a specific application scenario, in a high-density operation environment such as a port or a shipyard, when multiple cranes are working cooperatively, the movement (carriage transverse movement, rotation) of a neighboring crane and wind load will cause the spreader of the crane to swing through mechanical vibration transmission and aerodynamic disturbance, affecting the positioning accuracy and safety. The movement of the neighboring crane transmits vibration through the track foundation or air medium, forming a mechanical interference component; by analyzing the movement parameters, the mechanical interference component is obtained, and the influence of the movement of the neighboring crane on the spreader swing of the crane through mechanical coupling is quantified; the lateral force influence of the wind load on the spreader forms an aerodynamic interference influence, and by analyzing the wind load data, the aerodynamic interference component is obtained, and the aerodynamic force influence of the wind load on the spreader swing is represented by the aerodynamic interference component; the mechanical interference component and the aerodynamic interference component are weighted and fused by using the entropy weight method to obtain an influence factor. By separating the modeling of the mechanical interference component and the aerodynamic interference component and weighted fusion, the adaptability and pertinence of the swing suppression strategy are effectively improved.

[0069] Specifically, the mechanical interference component is obtained according to the following manner:

[0070] ;

[0071] K1 represents the mechanical interference component; represents the transverse movement speed of the neighboring crane carriage; t0 represents the swing suppression response time; represents the angle between the transverse movement direction of the neighboring crane carriage and the swing plane of the spreader of the crane; d represents the horizontal distance between the neighboring crane and the crane; represents the rotation angular velocity of the neighboring crane; represents the distance attenuation coefficient, and the value is 0.1-0.3 m -1 .

[0072] The mechanical interference component includes a carriage movement interference component and a rotation centrifugal interference component:

[0073] represents the carriage movement interference component, reflecting the transient impact force intensity of the transverse movement of the neighboring crane transmitted to the crane through the track / foundation; represents the effective displacement of the transverse movement of the neighboring crane carriage within the response time t0; the transverse movement speed The faster the transverse movement speed is, the greater the transverse thrust on the crane is; the closer the distance between the two cranes is, the stronger the mechanical vibration conduction is; the greater the angle between the movement direction of the neighboring crane and the swing direction of the crane is, the smaller the influence is.

[0074] represents the rotation centrifugal interference component, reflecting the periodic centrifugal interference intensity of the rotation movement of the neighboring crane transmitted through the structure; represents that the vibration wave attenuates exponentially with the distance in the metal structure; the attenuation coefficient depends on the track material (such as steel rail λ≈0.15 m -1 ).

[0075] The mechanical interference component obtained by the above method can accurately identify the interference source, for example, when the main movement of the large vehicle dominates, the trajectory optimization strategy (such as the local early reverse movement) is triggered; when the rotation movement dominates, the reverse torque compensation of the rotation mechanism is activated. By introducing Automatic adjustment of swing suppression strength: when d < 10 m, the exponential term significantly increases the rotation centrifugal interference component, and the swing suppression strength is enhanced by 30%. When d > 30 m, the rotation interference term is ignored. In addition, the control delay is compensated by introducing t0.

[0076] Specifically, the aerodynamic interference component is obtained according to the following method:

[0077] ;

[0078] K2 represents the aerodynamic interference component; ρ represents the air density (1.225 kg / m 3 ); A is the windward area of the local spreader, which is determined according to the load type: for example, container load: A = 8 m²; bulk cargo load: A = 5 m²; V represents the wind speed; θ represents the angle between the wind direction and the swing plane of the local spreader; mg represents the weight of the goods carried by the local spreader, reflecting the inertial reference force of the spreader resisting wind load.

[0079] characterizes the dynamic pressure of the airflow acting on the spreader; characterizes the effective action ratio of the wind direction projected onto the swing direction (the influence is the smallest when the wind is from the side); the aerodynamic interference component determined based on the above method is directly related to the wind speed, mass, and wind direction, and is self-adaptive to complex working conditions such as empty / full load and different wind directions.

[0080] On the basis of the above embodiment, a hierarchical swing suppression strategy is triggered according to the influence factor, including: presetting a first threshold value and a second threshold value of the influence factor, the first threshold value being greater than the second threshold value; if the influence factor is greater than the first threshold value, a first-level swing suppression strategy is triggered; if the influence factor is less than or equal to the first threshold value and greater than or equal to the second threshold value, a second-level swing suppression strategy is triggered; if the influence factor is less than the second threshold value, a third-level swing suppression strategy is triggered.

[0081] In a specific application scenario, the first threshold value is set to a dangerous critical value that the influence factor may reach (such as the maximum allowed value of the swing angle exceeding the safe range, or the swing angular velocity exceeding the equipment carrying limit); the second threshold value is set to a critical value that the influence factor needs to be intervened but does not reach the danger (such as the swing angle being close to but not exceeding the safe range, or the swing angular velocity being in a tolerable interval).

[0082] The first swing suppression strategy is triggered when the influence factor is greater than the first threshold value, 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.

[0083] The second swing suppression strategy is triggered when the second threshold value is less than or equal to the influence factor and the influence factor is less than the first threshold value, 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.

[0084] The third swing suppression strategy is triggered when the influence factor is less than the second threshold value, 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.

[0085] In the embodiment scheme of the present application, the influence factor threshold value is set in stages and matched with the differentiated swing suppression strategy, thereby realizing precise control of the swing of the crane sling. The staged swing suppression strategy solves the contradictory problems of "excessive suppression leading to efficiency loss" and "insufficient suppression causing safety risks" in the traditional swing suppression technology, and significantly improves key indicators such as swing suppression effect, operation efficiency, and equipment life.

[0086] On the basis of the above embodiment, the swing suppression strategy includes adjusting the servo motor reverse torque of the local machine, and generating the swing suppression operation parameter of the local machine sling according to the swing suppression strategy and the state parameter includes: taking the swing angle and swing angular velocity of the local machine sling as feedback variables, determining the servo motor reverse torque adjustment amount of the local machine based on a PID control algorithm, correcting the servo motor reverse torque adjustment amount according to the swing frequency of the local machine sling, and generating the swing suppression operation parameter of the local machine sling based on the corrected servo motor reverse torque adjustment amount. In the embodiment scheme of the present application, after introducing frequency correction, the swing suppression error under resonance working conditions is reduced; PID-based control is superimposed with frequency self-adaptation, so that the stable time difference under different rope length conditions is small; thus, through the cooperative action of PID control and feedforward compensation with dynamic frequency correction, the suppression effect of the swing of the crane sling is significantly improved.

[0087] Specifically, correcting the servo motor reverse torque adjustment amount according to the swing frequency of the local machine sling includes: presetting a sling swing frequency safety threshold value; if the swing frequency of the local machine sling exceeds the frequency safety threshold value, the differential coefficient of the PID control algorithm is corrected based on the following mode:

[0088] ;

[0089] Kd represents the corrected differential coefficient; Kd represents the uncorrected differential coefficient; f represents the native sling swing frequency; f* represents the frequency safety threshold, which is determined based on the frequency safety threshold, such as 0.5-1.2Hz, which is determined based on the crane inherent frequency, servo bandwidth and sensor performance.

[0090] When the swing frequency exceeds the safety threshold , the sling swing presents a rapid oscillation characteristic, and the traditional fixed differential coefficient is difficult to suppress the high-frequency energy accumulation in time. By amplifying the differential coefficient, the differential term is more sensitive to high-frequency error changes, and the swing decay is accelerated. By increasing the differential effect in advance, the swing peak is reduced; in addition, the system response time is shortened under high-frequency interference; at the same time, the swing kinetic energy is quickly consumed by high-frequency torque compensation to avoid the risk of resonance. Therefore, in the embodiment of the present application, by dynamically adjusting the differential coefficient, the control system enhances the suppression ability of high-frequency swing, and solves the problem of insufficient response of the differential term to high-frequency interference in the traditional PID control.

[0091] On the basis of the above embodiment, the swing suppression strategy includes adjusting the hydraulic damping force of the native machine; generating the swing suppression operation parameter of the native machine sling according to the swing suppression strategy and the state parameter further includes: presetting a sling swing frequency safety threshold; presetting the rated hydraulic damping force of the native machine, determining the actual hydraulic damping force based on the adjustment coefficient and the rated hydraulic damping force; if the swing frequency of the native machine sling exceeds the frequency safety threshold, the adjustment coefficient is increased.

[0092] In a specific application scenario, under standard working conditions (20°C oil temperature, rated pressure 16MPa), the maximum output force F_max (example: F_max=5000N) of the hydraulic damper measured by the load test is the rated hydraulic damping force. In the embodiment of the present application, by dynamically adjusting the hydraulic damping force, the suppression effect of the crane sling under high-frequency swing working condition is improved.

[0093] On the basis of the above embodiment, the swing suppression operation parameter includes the reverse torque of the servo motor and the hydraulic damping force; and performing the native machine sling operation according to the swing suppression operation parameter 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. Through PWM modulation and current conversion, the torque / damping force control precision is improved.

[0094] Embodiment two: the embodiment of the present application provides a crane sling operation control system for cooperative operation of multiple cranes, which includes a native machine and at least one adjacent machine, as shown in Figure 3 , the control system includes:

[0095] A local state monitoring module is configured to acquire state parameters of the local spreader, wherein the state parameters include a swing angle and a swing frequency.

[0096] A neighboring crane motion monitoring module is configured to acquire motion parameters of the neighboring crane, wherein the motion parameters include a trolley traverse speed, a slewing angular velocity, and a distance between the neighboring crane and the local crane.

[0097] A wind load monitoring module is configured to acquire wind load data, wherein the wind load data include a wind direction and a wind speed.

[0098] An influence factor determining module is configured to calculate a mechanical interference component and an aerodynamic interference component according to the motion parameters and the wind load data, and to obtain an influence factor of the neighboring crane on the swing of the local spreader by weightedly fusing the mechanical interference component and the aerodynamic interference component.

[0099] A swing suppression strategy decision module is configured to trigger a hierarchical swing suppression strategy according to the influence factor, and to generate a swing suppression operation parameter in combination with the state parameters.

[0100] An execution module is configured to control the local spreader operation according to the swing suppression operation parameter.

[0101] Embodiment two is based on the same inventive concept as embodiment one, and has the same technical effects, which will not be described herein.

[0102] In summary, the crane spreader operation control method and system provided by the present application solve the problem of spreader swing control caused by the coupling effect of neighboring crane motion and wind load during the cooperative operation of multiple cranes, effectively suppress the swing of the local spreader, shorten the spreader swing suppression response time, enhance the safety of multi-crane cooperation, and improve the positioning accuracy and operation efficiency of the crane operation.

[0103] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0104] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0105] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0106] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0107] Obviously, the above-described embodiments are only examples and are not intended to limit the present application. Based on the above description, one of ordinary skill in the art can further make other variations and changes to the present application. Here, it is not necessary or possible to enumerate all the embodiments. The obvious changes or variations derived therefrom are still within the scope of the present application.

Claims

1. A method for controlling the operation of a crane spreader, for cooperative operation of a plurality of cranes, the plurality of cranes including a home crane and at least one neighbor crane, characterized in that, The control method comprises: obtaining a state parameter of the local spreader, the state parameter comprising a swing angle and a swing frequency; obtaining a motion parameter of the adjacent machine, the motion parameter comprising a trolley traverse speed, a swing angular velocity and a distance between the adjacent machine and the local machine; obtaining wind load data, the wind load data comprising a wind speed and a wind direction; analyzing the motion parameter and the wind load data to obtain an influence factor of the adjacent machine on the swing of the local spreader; triggering a hierarchical swing suppression strategy according to the influence factor, and generating a swing suppression operation parameter of the local spreader in combination with the state parameter, and performing an operation of the local spreader according to the swing suppression operation parameter.

2. The crane spreader operation control method according to claim 1, characterized in that, The analysis of the motion parameter and the wind load data to obtain the influence factor of the adjacent machine on the swing of the local spreader comprises: analyzing the motion parameter to obtain a mechanical interference component, the mechanical interference component representing an influence of the motion of the adjacent 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 representing an influence of wind load on the swing of the local spreader; weighting the mechanical interference component and the aerodynamic interference component to obtain the influence factor.

3. The crane spreader operation control method according to claim 2, characterized in that, The mechanical interference component is obtained in the following manner: ； K1 represents a mechanical interference component; denotes the adjacent crane trolley transverse speed; t0 denotes the sway suppression response time; denotes the angle between the adjacent crane trolley transverse direction and the plane of the trolley sway; d denotes the horizontal distance between the adjacent crane and the trolley; denotes the adjacent crane rotation angular velocity; denotes the distance attenuation coefficient, taking a value of 0.1-0.3 m -1 .

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

5. The crane spreader operation control method according to claim 1, characterized by, The triggering of the hierarchical swing suppression strategy according to the influence factor comprises: presetting a first threshold value and a second threshold value of the influence factor, the first threshold value being greater than the second threshold value; if the influence factor is greater than the first threshold value, triggering a first-level swing suppression strategy; if the influence factor is less than or equal to the first threshold value and greater than or equal to the second threshold value, triggering a second-level swing suppression strategy; if the influence factor is less than the second threshold value, triggering a third-level swing suppression strategy.

6. The crane spreader operation control method according to claim 1 or 5, characterized by, The swing suppression strategy comprises adjusting a reverse torque of a servo motor of the local machine; The generation of the swing suppression operation parameter of the local spreader according to the swing suppression strategy and the state parameter comprises: taking the swing angle and the swing angular velocity of the local spreader as feedback variables, and determining an adjustment amount of the reverse torque of the servo motor of the local machine based on a PID control algorithm; correcting the adjustment amount of the reverse torque of the servo motor according to the swing frequency of the local spreader; generating the swing suppression operation parameter of the local spreader based on the corrected adjustment amount of the reverse torque of the servo motor.

7. The crane spreader operation control method according to claim 6, characterized by, The correction of the adjustment amount of the reverse torque of the servo motor according to the swing frequency of the local spreader comprises: presetting a safe threshold value of the spreader swing frequency; if the swing frequency of the local spreader exceeds the frequency safe threshold value, correcting a derivative coefficient of the PID control algorithm in the following manner: ； represents the corrected differential coefficient; Kd represents the uncorrected differential coefficient; f represents the natural frequency of the spreader oscillation; f* represents the frequency safety threshold.

8. The crane spreader operation control method according to claim 1 or 5, characterized by, The swing suppression strategy comprises adjusting a hydraulic damping force of the local machine; the generation of the swing suppression operation parameter of the local spreader according to the swing suppression strategy and the state parameter further comprises: presetting a safe threshold value of the spreader swing frequency; presetting a rated hydraulic damping force of the local machine, 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 safe threshold value, increasing the adjustment coefficient.

9. The crane spreader operation control method according to claim 1, characterized by, The swing suppression operation parameter comprises the reverse torque of the servo motor and the hydraulic damping force; the performance of the operation of the local spreader according to the swing suppression operation parameter comprises: The servo motor reverse torque output value is converted into a PWM signal and sent to a servo driver; The hydraulic damping force output value is converted into a control current and sent to a hydraulic proportional valve.

10. A crane spreader operation control system for cooperative operation of a plurality of cranes including a home crane and at least one neighbor crane, characterized by, The control system comprises: A local state monitoring module configured to acquire state parameters of a local spreader, the state parameters comprising a swing angle and a swing frequency; A neighboring machine motion monitoring module configured to acquire motion parameters of the neighboring machine, the motion parameters comprising a car transverse movement speed, a slewing angular velocity, and a distance between the neighboring machine and the local machine; A wind load monitoring module configured to acquire wind load data, the wind load data comprising a wind direction and a wind speed; An influence factor determination module configured to calculate a mechanical interference component and an aerodynamic interference component according to the motion parameters and the wind load data, and to obtain an influence factor of the neighboring machine on the swing of the local spreader by weighted fusion of the mechanical interference component and the aerodynamic interference component; A swing suppression strategy decision module configured to trigger a hierarchical swing suppression strategy according to the influence factor, and to generate swing suppression operation parameters in combination with the state parameters; An execution module configured to control the local spreader operation according to the swing suppression operation parameters.

Images