Double-closed-loop anti-swing control method and device for nuclear waste transfer intelligent crane

Abstract

The invention provides a double-closed-loop anti-swing control method and device for an intelligent crane for nuclear waste transfer, and the method comprises the steps: driving each mechanism of the crane to operate based on a first position point corresponding to the current moment and a motion direction vector thereof, and obtaining an energy flow direction of a lifting appliance; if energy is positively injected between the lifting appliance and the crane main body, a second position point behind the first position point is subjected to space offset along the motion direction vector, and an offset position point is obtained; constructing a current local energy dissipation path section based on the shifted position point; and driving each mechanism to operate based on the current local energy dissipation path section, stopping executing the current local energy dissipation path section when energy reverse backflow is converted between the lifting appliance and the crane main body, and restoring to execute the non-deviated position point in the motion trail sequence. And stopping the driving action and locking the position of the lifting appliance until each mechanism reaches the target position and the energy flow direction indicates no net energy exchange. The safety of nuclear waste transfer is improved.

Description

Technical Field

[0001] This invention relates to the field of lifting and transport equipment for nuclear facilities, and in particular to a dual closed-loop anti-sway control method and device for an intelligent crane for transferring nuclear waste. Background Technology

[0002] During the transfer of nuclear waste, cranes need to achieve precise positioning and low-sway operation of the lifting equipment to ensure the safe transfer of highly radioactive materials. In the operation of intelligent cranes for nuclear waste transfer, a typical existing anti-sway method employs a closed-loop speed compensation strategy based on real-time measurements of the lifting equipment's swing angle. Specifically, when a swing is detected, the controller immediately generates a speed command opposite to the swing direction and applies it to the trolley or crane, attempting to counteract the swing kinetic energy through reverse motion.

[0003] However, existing methods suffer from a fundamental problem: their control actions are essentially reactive compensations for swaying that has already occurred, rather than interventions in the energy path before swaying is triggered. Due to the significant non-minimum phase characteristics of the hoist-rope system, such reverse velocity commands not only fail to eliminate swaying in a timely manner, but also, due to the inertia of the mechanism and the flexible coupling of the rope, can excite higher-order resonant modes within a short period, leading to a "suppression followed by increase" phenomenon in the sway amplitude. This problem is particularly problematic in situations involving large nuclear waste containers and long ropes, easily leading to uncontrolled swaying and threatening the safety of nuclear waste transport. Summary of the Invention

[0004] This invention provides a dual closed-loop anti-sway control method and device for an intelligent crane for nuclear waste transfer, aiming to solve the risk of swaying loss of control caused by post-compensation and improve the safety of nuclear waste transfer.

[0005] In a first aspect, the present invention provides a dual closed-loop anti-sway control method for an intelligent crane for nuclear waste transfer, comprising: Based on the target location information specified in the nuclear waste transfer mission, the first position point corresponding to the current moment and its motion direction vector are generated in the motion trajectory sequence to drive the operation of each mechanism of the crane in order to obtain the energy flow direction of the lifting device in the current motion state. If the energy flow direction indicates that energy is injected positively between the lifting device and the crane body, then the second position point after the first position point is spatially offset along the motion direction vector to obtain the offset position point; Construct the current local energy dissipation path segment based on the offset position point; The current local energy dissipation path segment drives the operation of each mechanism. When the energy flow direction indicates that the energy flow between the spreader and the crane body turns into reverse energy flow, the current local energy dissipation path segment is terminated, and the position points that have not been offset in the motion trajectory sequence are restored. The driving action is terminated and the position of the spreader is locked when each mechanism reaches the target position and the energy flow direction indicates that there is no net energy exchange.

[0006] Secondly, the present invention also provides a dual closed-loop anti-sway control device for a nuclear waste transfer intelligent crane, used to implement the dual closed-loop anti-sway control method for the nuclear waste transfer intelligent crane as described in the first aspect; the dual closed-loop anti-sway control device for the nuclear waste transfer intelligent crane includes: The energy flow analysis module is used to drive the operation of various mechanisms of the crane by using the first position point and its motion direction vector corresponding to the current moment in the motion trajectory sequence generated based on the target position information specified by the nuclear waste transfer task, so as to obtain the energy flow direction of the lifting device in the current motion state. The spatial offset module is used to spatially offset the second position point after the first position point along the motion direction vector if the energy flow direction indicator is positively injected between the lifting device and the crane body, so as to obtain the offset position point. The path building module is used to construct the current local energy dissipation path segment based on the offset position point; The anti-sway control module is used to drive the operation of each mechanism based on the current local energy dissipation path segment. When the energy flow direction indicates that the energy flow between the spreader and the crane body turns into reverse energy return, the current local energy dissipation path segment is terminated, and the position points that have not been offset in the motion trajectory sequence are restored until each mechanism reaches the target position and the energy flow direction indicates that there is no net energy exchange. Then, the driving action is terminated and the position of the spreader is locked.

[0007] Thirdly, the present invention also provides an electronic device, comprising: a memory for storing computer software programs; and a processor for reading and executing the computer software programs, thereby realizing the dual closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer as described above.

[0008] Fourthly, the present invention also provides a non-transitory computer-readable storage medium storing a computer software program, which, when executed by a processor, implements the dual closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer as described above.

[0009] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the dual closed-loop anti-sway control method for the intelligent crane for transferring nuclear waste as described above.

[0010] The dual-closed-loop anti-sway control method for the intelligent crane used for nuclear waste transfer provided in this invention captures the first position point and the motion direction vector at the current moment using a motion trajectory sequence generated from the nuclear waste transfer target position information. This drives the operation of each mechanism of the crane, thus accurately obtaining the energy flow direction of the lifting device under its current motion state. This breaks the passive mode of "swaying first, then compensating." By capturing the energy flow direction in real time, the potential excitation trend of the lifting device's swaying can be identified in advance, avoiding a delayed response to swaying that has already occurred. Based on the energy flow direction, the energy interaction state between the lifting device and the crane body is judged. If positive energy injection is identified, the second position point after the first position point is spatially offset along the motion direction vector based on the judgment result, resulting in the offset position point. By changing the movement path of the lifting device through position offset, the energy injection path is adjusted in advance, preventing the lifting device from accumulating swaying kinetic energy due to continuous positive energy injection. This curbs the excitation of swaying from the source, rather than waiting for swaying to occur before performing reverse compensation. Based on the offset position point, a local energy dissipation path segment is constructed to provide a controllable dissipation channel for the potential swaying energy accumulated by the spreader, solving the problem of "reverse compensation easily causing resonance". By pre-setting the dissipation path, the energy that may be accumulated by the spreader is released in an orderly manner, avoiding concentrated energy bursts that could cause high-order resonance. The operation of each mechanism is driven by the local energy dissipation path segment, while continuously monitoring the energy flow direction in real time. When the energy flow direction is detected to turn into reverse flow, the current local energy dissipation path segment is immediately terminated, and the position point that has not been offset in the execution motion trajectory sequence is restored. This ensures sufficient dissipation of excess energy while avoiding the impact of excessive offset on the target positioning accuracy, thus balancing anti-sway and positioning synergy. Based on continuous cyclical control, until each mechanism reaches the target position and the energy flow direction indicates no net energy exchange, the driving action is terminated and the spreader position is locked, ensuring that the spreader is ultimately stable in the target position without residual sway. Therefore, the embodiments of the present invention realize active intervention in the energy path before the swing is excited, abandon the post-compensation mode of the existing method, avoid the problem of non-minimum phase system resonance amplification and swing amplitude "suppression and then rise" caused by reverse velocity command, solve the risk of swing runaway caused by post-compensation, realize the coordinated control of high-precision positioning and ultra-low residual swing, thereby improving the safety of nuclear waste transportation. Attached Figure Description

[0011] Figure 1 This is a flowchart illustrating the dual closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer provided in this embodiment of the invention. Figure 2 This is a schematic diagram of the dual closed-loop anti-sway control device of the intelligent crane for nuclear waste transfer provided in this embodiment of the invention; Figure 3 An embodiment diagram of the electronic device provided in this invention; Figure 4An embodiment diagram of a computer-readable storage medium provided in accordance with the present invention. Detailed Implementation

[0012] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0013] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0014] In the description of this invention, the term "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this invention is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed herein.

[0015] Optionally, see Figure 1 , Figure 1 This is a flowchart illustrating the dual-closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer provided by the present invention.

[0016] In this embodiment of the invention, the execution subject of the dual closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer is the anti-sway control device. Therefore, the dual closed-loop anti-sway control method includes: Step 10: Based on the target location information specified in the nuclear waste transfer task, the first position point corresponding to the current moment and its motion direction vector in the motion trajectory sequence are used to drive the operation of each mechanism of the crane to obtain the energy flow direction of the lifting device in the current motion state.

[0017] Optionally, the anti-sway control device acquires the target location information pre-specified in the nuclear waste transfer mission. The target location information is the complete spatial coordinate information related to the endpoint of the nuclear waste transfer mission, including the three-dimensional spatial coordinates of the target location, the position accuracy requirements, and the time node for reaching the target location.

[0018] Furthermore, the anti-sway control device generates a motion trajectory sequence of the crane spreader from its current initial position to the target position based on the target position information. Therefore, it can be understood that the motion trajectory sequence is a set of multiple consecutive position points arranged in chronological order. Each position point corresponds to a specific moment and contains clear three-dimensional spatial coordinate information. The time interval between two adjacent position points remains fixed to ensure the continuity and stability of the crane's movement. The generation of the motion trajectory sequence must meet the requirements of smooth movement of the spreader without violent shaking and compliance with nuclear safety transfer specifications during the nuclear waste transfer process.

[0019] Furthermore, the anti-sway control device determines the position point corresponding to the current moment in the motion trajectory sequence, namely the first position point. The first position point is the reference position that the spreader needs to reach at the current moment, and its three-dimensional spatial coordinates are clear and unique, corresponding to the theoretical position of the spreader at the current moment during the nuclear waste transfer process. At the same time, based on the coordinate differences between adjacent position points before and after the current moment in the motion trajectory sequence, the anti-sway control device calculates the motion direction vector corresponding to the current moment. The motion direction vector refers to the vector pointing from the position point before the current moment in the motion trajectory sequence to the first position point. It is used to determine the motion direction and trend of the spreader at the current moment. Its direction is consistent with the actual motion direction of the spreader at the current moment, and the magnitude of the vector corresponds to the distance between two adjacent position points, reflecting the current motion rate information of the spreader.

[0020] Furthermore, based on the first position point and its motion direction vector obtained above, the anti-sway control device sends drive control signals to each mechanism of the crane, driving each mechanism of the crane to operate in coordination. Each mechanism of the crane includes the hoisting mechanism, the trolley traveling mechanism, and the trolley traveling mechanism. Each mechanism adjusts its running speed, running direction, and running amplitude according to the control signals sent by the anti-sway control device to ensure that the spreader can move according to the requirements of the first position point and the motion direction vector.

[0021] During the operation of various mechanisms of the crane, the anti-sway control device collects relevant parameters of energy flow of the spreader in real time under the current motion state, including the speed and acceleration of the spreader, rope tension, and stress of the crane structure. By analyzing and calculating these parameters, the energy flow direction of the spreader under the current motion state is determined. The energy flow direction refers to the direction of energy transfer between the spreader and the crane body, clarifying whether the energy is transferred from the crane body to the spreader or from the spreader to the crane body.

[0022] In one embodiment, the target location information for the nuclear waste transfer task is three-dimensional spatial coordinates (10 meters, 8 meters, 5 meters), with a position accuracy requirement of ±0.01 meters and an arrival time node of 100 seconds. Based on the target location information, a motion trajectory sequence from the initial position (0 meters, 0 meters, 0 meters) to the target position is generated. The sequence consists of 100 location points, with each location point corresponding to a time interval of 1 second. The location point corresponding to the 50th second (i.e., the current moment) is the first location point, with three-dimensional spatial coordinates of (5 meters, 4 meters, 2.5 meters). The anti-sway control device calculates the coordinate difference between the location point corresponding to the 49th second (4.9 meters, 3.9 meters, 2.45 meters) and the first location point (5 meters, 4 meters, 2.5 meters) to obtain a motion direction vector. The direction of this vector is from (4.9 meters, 3.9 meters, 2.45 meters) to (5 meters, 4 meters, 2.5 meters), reflecting that the lifting device is currently moving synchronously and uniformly along the positive x-axis, positive y-axis, and positive z-axis directions. Subsequently, drive signals are sent to the crane's hoisting mechanism, trolley traveling mechanism, and gantry traveling mechanism. The hoisting mechanism rises at a speed of 0.05 m / s, the trolley traveling mechanism moves along the positive x-axis at a speed of 0.1 m / s, and the gantry traveling mechanism moves along the positive y-axis at a speed of 0.1 m / s, ensuring the spreader moves towards the first position point. During this process, the spreader's speed is collected in real-time as 0.132 m / s, acceleration is 0, rope tension is 5000 N, and the force on the crane structure is 4800 N. Analysis shows that at this time, the crane body inputs energy to the spreader through various mechanisms, and the energy flow direction is from the crane body towards the spreader.

[0023] Step 20: If the energy flow direction indicator shows positive energy injection between the lifting device and the crane body, then the second position point after the first position point is spatially offset along the motion direction vector to obtain the offset position point.

[0024] Optionally, the anti-sway control device determines whether the energy transfer direction between the spreader and the crane body is positive based on the energy flow direction. Positive energy injection refers to the energy transfer state from the crane body through various operating mechanisms to the spreader. In this state, the kinetic energy of the spreader is increasing, the spreader's speed is rising, and the rope tension changes accordingly with the increase in the spreader's kinetic energy. If energy dissipation control is not implemented at this time, the spreader is prone to swaying, affecting the safety of nuclear waste transfer.

[0025] Furthermore, when the energy flow direction indicates that energy is being injected positively between the spreader and the crane body, it is determined that the spreader is currently in a state of increased kinetic energy and prone to swaying. The anti-sway control device determines the next position point after the first position point in the motion trajectory sequence, namely the second position point. Therefore, the second position point is the next reference position point in the motion trajectory sequence at the current moment. Its three-dimensional spatial coordinates are clear, it is adjacent to the first position point, and it is the position that the spreader will reach under the normal motion trajectory.

[0026] Furthermore, the anti-sway control device performs a spatial offset operation on the second position point in the opposite direction of the motion direction vector. Spatial offset refers to adjusting the three-dimensional spatial coordinates of the second position point appropriately without changing the direction of the motion direction vector, so that the adjusted position point and the original second position point are linearly distributed along the motion direction vector, thus obtaining the offset position point, as described in steps 201 to 204.

[0027] Step 30: Construct the current local energy dissipation path segment based on the offset position point.

[0028] Optionally, the anti-sway control device constructs a current local energy dissipation path segment based on the offset position point. In this embodiment of the invention, the local energy dissipation path segment is a temporary motion path used to dissipate excess kinetic energy of the lifting device. This path segment is located between the first position point and the second position point in the original motion trajectory sequence. It is a temporary adjustment to the original motion trajectory and only takes effect under the current positive energy injection state. It does not change the overall direction and target position of the original motion trajectory sequence.

[0029] Furthermore, when constructing the current local energy dissipation path segment, the anti-sway control device specifically configures the geometric curvature of this path segment, as described in steps 301 to 304. Geometric curvature refers to the degree of bending of the local energy dissipation path segment. Its configuration principle is to ensure that the kinetic energy carried by the spreader is converted into micro-vibration energy of the crane structure through changes in rope tension. Specifically, rope tension changes refer to the periodic, minute changes in the tension of the ropes connecting the spreader and the crane body, caused by changes in the geometric curvature of the local energy dissipation path segment. The micro-vibration energy of the crane structure refers to the energy carried by the small-amplitude, stable-frequency vibrations generated by the crane's main structure under the influence of rope tension changes. This vibration amplitude is controlled within the safe range allowed by the crane structure and will not affect the structural stability of the crane or the safety of nuclear waste transfer. Through the above configuration of geometric curvature, excess kinetic energy of the spreader is effectively dissipated, reducing the possibility of spreader swaying and ensuring the smoothness of the spreader's movement.

[0030] Step 40: Drive each mechanism based on the current local energy dissipation path segment, and when the energy flow direction indicates that the energy flow between the spreader and the crane body turns into reverse energy return, terminate the execution of the current local energy dissipation path segment, restore the position points in the motion trajectory sequence that have not been offset, until each mechanism reaches the target position and the energy flow direction indicates that there is no net energy exchange, then terminate the driving action and lock the position of the spreader.

[0031] Optionally, the anti-sway control device sends new drive control signals to each mechanism of the crane based on the current local energy dissipation path segment, driving the crane's hoisting mechanism, trolley traveling mechanism, and gantry traveling mechanism to operate in coordination according to the requirements of the current local energy dissipation path segment. It adjusts the operating speed, direction, and amplitude of each mechanism to ensure that the spreader can move along the current local energy dissipation path segment. During this process, the excess kinetic energy carried by the spreader is gradually converted into the micro-vibration energy of the crane structure through the change of rope tension, thus achieving kinetic energy dissipation.

[0032] Furthermore, as the spreader moves along the current local energy dissipation path segment, the anti-sway control device continuously collects the spreader's motion state parameters and energy flow parameters in real time, continuously monitors changes in the energy flow direction, and determines in real time whether the energy flow direction has changed from the forward energy injection in step 20 to the reverse energy return. Here, reverse energy return refers to the energy transfer state from the spreader to the crane body. In this state, the spreader's kinetic energy is decreasing, the spreader's speed is decreasing, and the rope tension changes accordingly in the opposite direction as the spreader's kinetic energy decreases, indicating that the spreader's excess kinetic energy has been effectively dissipated. At this point, it is unnecessary to continue executing the local energy dissipation path segment.

[0033] Furthermore, when the energy flow direction indicator is detected to indicate that the energy flow between the spreader and the crane body has turned into reverse energy flow, a stop signal is immediately sent to each mechanism of the crane to terminate the execution of the current local energy dissipation path segment. At the same time, the anti-sway control device calls up the original motion trajectory sequence and resumes the execution of the position points in the motion trajectory sequence that have not been deviated. That is, it continues to move from the current position of the spreader along the position points in the original motion trajectory sequence that have not been deviated, ensuring that the spreader can gradually approach the target position and avoid the spreader deviating from the overall transport trajectory due to the execution of the local energy dissipation path segment.

[0034] Furthermore, the anti-sway control device continuously drives each mechanism of the crane to run along the restored original motion trajectory sequence, monitoring two indicators: first, whether each mechanism of the crane has reached the target position specified by the nuclear waste transfer task; and second, whether the energy flow direction indicates no net energy exchange between the spreader and the crane body. No net energy exchange means that for a period of time, the energy transferred from the crane body to the spreader is equal to the energy transferred from the spreader to the crane body, and the energy transfer is in a dynamic equilibrium state. At this time, the kinetic energy of the spreader remains stable, the movement speed tends to be smooth, there is no excess kinetic energy accumulation, and the spreader no longer sways.

[0035] Furthermore, when both of the above core indicators are met—that is, when each mechanism of the crane reaches the target position and the energy flow direction indicates that there is no net energy exchange between the spreader and the main body of the crane—the anti-sway control device immediately stops sending drive control signals to each mechanism of the crane, stops driving each mechanism to operate, and at the same time sends a control signal to the spreader locking mechanism of the crane to drive the spreader locking mechanism to act, lock the spreader position, ensure that the spreader stays stably at the target position, and avoid the spreader position deviation caused by external interference or mechanism inertia. This completes the anti-sway control during the nuclear waste transfer process and ensures the safety of nuclear waste transfer.

[0036] Continuing with the above embodiment, the anti-sway control device determines that the current energy flow direction is positive energy injection. It spatially offsets the second position point (5.1 m, 4.1 m, 2.55 m) along the motion direction vector to obtain the offset position point. Based on this offset position point, it constructs a local energy dissipation path segment. The geometric curvature of this path segment is configured to enable the kinetic energy of the spreader to be converted into micro-vibration energy of the crane structure through changes in rope tension. Subsequently, the anti-sway control device drives each mechanism of the crane to run along this local energy dissipation path segment, collecting the motion state parameters and energy flow parameters of the spreader in real time. It monitors that the spreader's speed gradually decreases from 0.132 m / s to 0.1 m / s, the rope tension periodically changes from 5000 N to 4900 N and then returns to 5000 N, and the crane structure generates a micro-vibration with an amplitude of 0.005 m and a frequency of 10 Hz. The energy flow direction gradually changes from the crane body pointing towards the spreader to the spreader pointing towards the crane body, i.e., energy reverse flow. At this moment, the anti-sway control device immediately terminates the execution of the current local energy dissipation path segment, resumes the execution of the position points that have not deviated in the original motion trajectory sequence, and drives the various mechanisms of the crane to continue moving towards the target position (10 meters, 8 meters, 5 meters).

[0037] During this process, the anti-sway control device continuously monitors the crane. When each mechanism of the crane moves to the target position (10 meters, 8 meters, 5 meters), and it is detected that the energy transfer between the crane body and the spreader is in a balanced state for a period of time (e.g., 5 seconds), the energy flow direction indicates no net energy exchange, the movement speed of the spreader is stable within 0.01 meters / second, and there is no obvious swaying, the anti-sway control device terminates the drive action, sends a spreader locking signal, locks the spreader position at the target position, and completes the entire anti-sway control process.

[0038] The embodiments of the present invention realize active intervention in the energy path before the swing is excited, abandoning the post-compensation mode of the existing methods, avoiding the problems of non-minimum phase system resonance amplification and swing amplitude "suppression and then rise" caused by reverse velocity command, solving the risk of swing runaway caused by post-compensation, realizing the coordinated control of high-precision positioning and ultra-low residual swing, thereby improving the safety of nuclear waste transportation.

[0039] Optionally, the processes of steps 201 to 204 include: Step 201: Based on the directional component information of the motion direction vector and the spatial orientation information of the slope direction of the preset bending mode vibration mode on the main beam of the crane, analyze the spatial alignment relationship between the opposite direction of the motion direction vector and the slope direction of the bending mode vibration mode.

[0040] Optionally, the anti-sway control device acquires the spatial orientation information of the slope direction of the preset bending mode vibration patterns on the crane's main beam. The crane's main beam is the core load-bearing structure, supporting the weight of the crane's various operating mechanisms, lifting devices, and nuclear waste. The bending mode vibration pattern refers to the overall bending deformation shape of the crane's main beam under forced or free vibration. The slope direction refers to the direction pointed to by the tangent slope at any point on the bending mode vibration pattern. The spatial orientation information refers to the specific distribution of this slope direction in three-dimensional space, reflecting the energy transfer direction and vibration trend during the bending vibration of the main beam.

[0041] Furthermore, the anti-sway control device performs a collaborative analysis of the directional component information of the motion direction vector and the spatial orientation information of the slope direction of the bending mode. The analysis content is the spatial alignment relationship between the opposite direction of the motion direction vector and the slope direction of the bending mode. The spatial alignment relationship refers to the degree of coincidence, the size of the included angle, and the relative orientation relationship of the two directions in three-dimensional space. The specific analysis process is as follows: the anti-sway control device calculates the included angle between the two directions by comparing the three-dimensional component of the opposite direction of the motion direction vector with the three-dimensional spatial orientation parameters of the slope direction of the bending mode, and determines whether the two directions coincide, approximately coincide, or have a specific angular deviation, thereby obtaining the spatial alignment relationship between the two.

[0042] Step 202: Determine the reference offset direction in the opposite direction of the motion direction vector based on the spatial alignment relationship, and analyze the vibration amplitude gain excited by moving the second position point along the reference offset direction by half a node spacing based on the node spacing parameter analysis of the bending mode to obtain the gain offset distance.

[0043] Optionally, the reference offset direction refers to the basic direction when spatially offsetting the second position point. Its determination principle is directly related to the spatial alignment relationship. Specifically, if the opposite direction of the motion direction vector is completely or approximately coincident with the slope direction of the bending mode, then the slope direction of the bending mode is determined as the reference offset direction. If there is a certain angle between the two and they are not aligned, then based on the angle parameter in the spatial alignment relationship, the opposite direction of the motion direction vector is adjusted so that it reaches the optimal alignment state with the slope direction of the bending mode. The adjusted direction is the reference offset direction, ensuring that the reference offset direction can adapt to the bending vibration characteristics of the crane main beam.

[0044] Furthermore, the anti-sway control device acquires the node spacing parameters of the bending mode vibration mode. The node of the bending mode vibration mode refers to the point where the vibration amplitude of the main beam of the crane is zero during the bending vibration process, that is, the main beam has no bending deformation at this point. The node spacing parameter refers to the straight distance between two adjacent nodes.

[0045] Furthermore, the anti-sway control device analyzes the vibration amplitude gain generated when the second position point is moved by half a node spacing along the reference offset direction based on the node spacing parameter. Half a node spacing refers to half of the node spacing parameter, and its specific value is directly calculated from the node spacing parameter. The vibration amplitude gain refers to the increase ratio of the amplitude of the micro-vibration generated by the crane structure after the second position point is moved relative to before the move, reflecting the degree of influence of the position offset on vibration excitation. Optionally, the analysis process of this embodiment is as follows: determine the specific value of the node spacing parameter and calculate the value of half a node spacing; simulate the spatial position of the second position point after moving by half a node spacing based on the reference offset direction, analyze the vibration response of the bending mode of the crane main beam corresponding to this position, calculate the increase in vibration amplitude, and obtain the vibration amplitude gain; based on the magnitude of the vibration amplitude gain, determine the gain offset distance that can effectively excite the micro-vibration of the crane structure without exceeding the structural safety range. The gain offset distance refers to the second position point offset distance that enables the vibration amplitude gain to reach a preset reasonable range, and its value is positively correlated with half a node spacing and vibration amplitude gain, ensuring that subsequent offset operations can effectively dissipate the kinetic energy of the lifting device.

[0046] Step 203: Based on the relationship between the gain offset distance and the preset safety offset limit, determine the target offset distance, and move the second position point along the reference offset direction by the target offset distance to obtain the candidate position point.

[0047] Optionally, the preset safety offset limit refers to the maximum allowable offset distance when the second position point is spatially offset. It is set based on the positioning accuracy requirements of nuclear waste transfer, the operating range of the crane mechanism, and the safe movement space of the lifting device. Its value is clear and fixed, and is used to prevent the lifting device from deviating from the overall trajectory of nuclear waste transfer due to excessive offset, thereby affecting the transfer safety and positioning accuracy.

[0048] Furthermore, the anti-sway control device compares the gain offset distance with the preset safety offset limit. The comparison process involves directly comparing the two values. Based on the comparison result, the target offset distance is determined. The target offset distance refers to the specific distance used to spatially offset the second position point. The determination rule is as follows: if the gain offset distance is less than or equal to the preset safety offset limit, it means that the gain offset distance will not affect the safety of the spreader's movement and the positioning accuracy. In this case, the gain offset distance is determined as the target offset distance. If the gain offset distance is greater than the preset safety offset limit, it means that the gain offset distance exceeds the safe range. In this case, the preset safety offset limit is set as the target offset distance.

[0049] Furthermore, the anti-sway control device controls the second position point to move along the reference offset direction. The distance moved is the target offset distance. During the movement, the motion direction vector of the second position point remains unchanged, and only its spatial position is changed. The position point obtained after the movement is completed is the candidate position point. The candidate position point is the intermediate position point of the second position point after the initial offset.

[0050] Step 204: Based on the spatial positional relationship between the candidate position point and the tension balance reference position set of the lifting rope, the candidate position point is spatially offset to obtain the offset position point.

[0051] Optionally, the lifting rope is a flexible component connecting the lifting device and the crane body, used to bear the weight of the lifting device and nuclear waste, and to transmit the crane's driving force. The tension balance reference position set refers to a pre-defined set of all spatial positions that allow the lifting device's rope to be in a state of tension balance. Each position in the set is a reference position, and the spatial coordinates of each reference position are determined in advance through mechanical analysis based on the weight of the lifting device and nuclear waste, the material properties of the rope, and the structural parameters of the crane. The preset tension balance neighborhood radius refers to the radius of a pre-defined spherical neighborhood centered at each reference position in the tension balance reference position set. The radius value is based on the allowable deviation range of the rope tension balance.

[0052] Optionally, the anti-sway control device analyzes the spatial relationship between the candidate position point and the tension balance reference position set of the lifting rope. Specifically, the spatial relationship includes two scenarios: The first scenario is that the spatial distance between the candidate position point and at least one reference point in the tension balance reference position set is less than or equal to the preset tension balance neighborhood radius, indicating that the candidate position point is within a reasonable neighborhood of at least one tension balance reference position, and the rope can maintain basic tension balance at this candidate position point without significant offset adjustment. The second scenario is that the spatial distance between the candidate position point and each reference point in the tension balance reference position set is greater than the preset tension balance neighborhood radius, indicating that the candidate position point is not within a reasonable neighborhood of any tension balance reference position, and the rope cannot maintain tension balance at this candidate position point, requiring offset adjustment to ensure balanced rope force.

[0053] Furthermore, the anti-sway control device spatially offsets the candidate position point based on the spatial positional relationship between the candidate position point and the tension balance reference position set of the rope of the lifting device, and obtains the offset position point, as specifically in steps 2041 to 2049.

[0054] The embodiments of the present invention achieve precise offset of the second position point, ensuring that the potential swing kinetic energy accumulated by the positive energy injection of the lifting device can be released in an orderly manner through the local energy dissipation path segment, thus curbing the excitation of the lifting device swing from the source. At the same time, it takes into account the positioning accuracy and safety of nuclear waste transfer, thereby achieving coordinated control of high-precision positioning and ultra-low residual swing, and improving the safety of nuclear waste transfer.

[0055] Optionally, the process of steps 2041 to 2044 includes: Step 2041: If the spatial distance between the candidate position point and each reference point in the tension balance reference position set is greater than the preset tension balance neighborhood radius, then based on the spatial coordinate information of the candidate position point and the spatial coordinate information of the target reference point in the tension balance reference position set that is closest to the candidate position point, determine the tension recovery direction vector from the candidate position point to the target reference point.

[0056] Optionally, the anti-sway control device calculates the spatial distance between each candidate position point and each reference point in the tension balance reference position set. The spatial distance is calculated by using the three-dimensional spatial coordinates of the candidate position point and each reference point to calculate the straight-line distance between the two points. The specific formula for calculating the distance between two points is not detailed here. Each calculated spatial distance is compared with the preset tension balance neighborhood radius. If all calculated spatial distances are greater than the preset tension balance neighborhood radius, the anti-sway control device determines the spatial coordinate information of the candidate position point. The spatial coordinate information consists of the three-dimensional spatial coordinates of the candidate position point, including specific values ​​on the three coordinate axes, used to accurately locate the spatial position of the candidate position point. Simultaneously, the anti-sway control device selects the reference point closest to the candidate position point from the tension balance reference position set, i.e., the target reference point. The selection process involves comparing the spatial distance between the candidate position point and all reference points in the tension balance reference position set, selecting the reference point with the smallest spatial distance value as the target reference point, and determining the spatial coordinate information of the target reference point.

[0057] Furthermore, based on the spatial coordinates of the candidate location point and the target reference point, a tension recovery direction vector is determined from the candidate location point to the target reference point. Therefore, the tension recovery direction vector is a vector originating from the candidate location point and ending at the target reference point, used to define the direction in which the candidate location point moves towards the tension equilibrium state. The determination process is as follows: The coordinates of the candidate location point on the corresponding coordinate axis are subtracted from the coordinates of the target reference point on each of the three coordinate axes, yielding components along the three axes. These three components together constitute the tension recovery direction vector, which points precisely to the target reference point, and its magnitude is equal to the spatial distance between the candidate location point and the target reference point.

[0058] Step 2042: Based on the spatial distance between the candidate position point and the target reference point, move from the candidate position point to the target reference point along the tension recovery direction vector to obtain the first target position point.

[0059] Optionally, the anti-sway control device controls the candidate position point to move along the tension recovery direction vector. The distance moved is equal to the spatial distance between the candidate position point and the target reference point. During the movement, the direction of the tension recovery direction vector remains unchanged, and only the spatial coordinates of the candidate position point are changed, ensuring the accuracy and stability of the movement process. When the candidate position point moves along the tension recovery direction vector until it completely coincides with the target reference point, the movement operation stops, and the position point obtained at this time is the first target position point.

[0060] Step 2043: Based on the spatial coordinate information of the first target position point, constrain the first target position point to the center line of the guide surface of the crane's trolley to obtain the second target position point.

[0061] Optionally, the crane trolley is one of the crane's running mechanisms, used to move the lifting device along the direction of the crane's main beam. The centerline of the track guide surface refers to the central axis of the guide surface of the crane trolley's running track. The spatial coordinate information of this centerline is set based on the crane's structural design parameters and serves as the reference axis for the trolley's operation, ensuring that the trolley runs smoothly along the preset trajectory.

[0062] Optionally, the anti-sway control device constrains the first target position point based on its spatial coordinate information, aligning it to the centerline of the crane's trolley's guide rail surface. The constraint adjustment process involves analyzing the deviation between the spatial coordinates of the first target position point and the spatial coordinates of the guide rail surface's centerline to determine the offset direction and distance of the first target position point relative to the guide rail surface's centerline. Then, along a direction perpendicular to the guide rail surface's centerline, the spatial coordinates of the first target position point are adjusted until they completely coincide with the guide rail surface's centerline, meaning the first target position point falls on the guide rail surface's centerline.

[0063] The position point obtained after adjustment is the second target position point. The second target position point maintains the tension balance characteristics of the first target position point and is constrained to the center line of the trolley track guide surface. This ensures that the subsequent movement of the lifting device is consistent with the trajectory of the trolley, avoiding problems such as uneven rope tension and lifting device swaying caused by the lifting device position deviating from the center line of the track guide surface, and ensuring the stability of nuclear waste transfer.

[0064] Step 2044: Based on the spatial coordinate information of the second target position point and the minimum allowable bending radius of the wire rope of the lifting device, adjust the lifting height of the lifting device so that the actual bending radius of the wire rope at the pulley is equal to the minimum allowable bending radius, and obtain the offset position point.

[0065] Optionally, the wire rope of the lifting device is used to directly bear the weight of the lifting device and nuclear waste. The minimum allowable bending radius refers to the minimum bending radius that the wire rope can withstand during normal operation without fatigue damage, breakage, or other failures. This radius value is set based on the material properties, diameter, and structural type of the wire rope and is a core parameter to ensure the safe operation of the wire rope.

[0066] The anti-sway control device analyzes the actual bending radius of the wire rope at the pulley. The pulley is a component on the crane used to guide the movement of the wire rope and change the direction of force on it. The wire rope bends at the pulley, and its actual bending radius is the sum of the pulley's groove radius and the wire rope's radius. The analysis process is as follows: based on the spatial coordinates of the second target location, the contact position between the wire rope and the pulley is determined, and then the actual bending radius of the wire rope at that contact position is calculated.

[0067] Furthermore, the calculated actual bending radius is compared with the obtained minimum allowable bending radius. If the actual bending radius is not equal to the minimum allowable bending radius, the anti-sway control device adjusts the lifting height of the spreader. The lifting height of the spreader refers to the vertical distance between the spreader and the ground or the crane's reference plane. The adjustment process is as follows: based on the difference between the actual bending radius and the minimum allowable bending radius, the adjustment direction and amount of the spreader's lifting height are determined. If the actual bending radius is less than the minimum allowable bending radius, the lifting height of the spreader is increased, increasing the actual bending radius of the wire rope at the pulley. If the actual bending radius is greater than the minimum allowable bending radius, the lifting height of the spreader is decreased, decreasing the actual bending radius of the wire rope at the pulley, until the actual bending radius of the wire rope at the pulley equals the minimum allowable bending radius.

[0068] When the actual bending radius of the wire rope at the pulley is adjusted to be equal to the minimum allowable bending radius, the adjustment operation stops. The position point obtained at this time is the offset position point. The offset position point satisfies both the tension balance requirements of the lifting rope and the guidance requirements of the trolley track, ensuring the safe operation of the wire rope.

[0069] The embodiments of the present invention achieve precise offset of candidate position points, which not only ensures the tension balance of the lifting rope, but also guarantees the adaptability of the trolley's running trajectory and the working safety of the wire rope. It ensures that the potential swing kinetic energy accumulated by the lifting equipment due to positive energy injection can be dissipated in an orderly manner, curbing the excitation of lifting equipment swing from the source, and realizing the coordinated control of high-precision positioning and ultra-low residual swing, thereby improving the safety and reliability of nuclear waste transfer.

[0070] Optionally, the process of steps 2045 to 2049 includes: Step 2045: If the spatial distance between the candidate position point and at least one reference point in the tension balance reference position set is less than or equal to the preset tension balance neighborhood radius, then based on the spatial coordinate information of the candidate position point and the spatial position information of the inflection point of the bending mode, determine the vibration excitation direction vector from the candidate position point to the inflection point.

[0071] Optionally, if at least one calculated spatial distance is less than or equal to the preset tension equilibrium neighborhood radius, the anti-sway control device acquires the spatial location information of the inflection point of the bending mode. The inflection point refers to the point on the bending mode where the bending direction changes, and the curvature of the main beam at this point is zero. The spatial location information of the inflection point is based on the structural parameters, material properties, and preset bending mode of the crane's main beam, and is a pre-determined three-dimensional spatial coordinate. Based on the spatial coordinate information of the candidate location point and the spatial location information of the inflection point of the bending mode, the anti-sway control device determines the vibration excitation direction vector from the candidate location point to the inflection point. Therefore, the vibration excitation direction vector refers to the direction that can cause the crane structure to produce micro-vibrations, thereby dissipating excess kinetic energy of the lifting device. Its determination method is as follows: subtract the coordinate values ​​of the candidate location point on the corresponding coordinate axis from the coordinate values ​​of the inflection point on the three coordinate axes to obtain the components in the three coordinate axis directions. These three components jointly determine the vibration excitation direction vector.

[0072] Step 2046: Based on the candidate position point, move it along the vibration excitation direction vector by a preset micro-amplitude excitation step to obtain the third position point.

[0073] Optionally, the micro-amplitude excitation step size refers to a pre-set, minute distance by which the candidate position point moves along the vibration excitation direction vector. This step size is set based on the excitation requirements of the crane structure's micro-amplitude vibration and the motion accuracy requirements of the spreader. It ensures sufficient micro-amplitude vibration to dissipate kinetic energy without causing excessive spreader position deviation. The anti-sway control device controls the candidate position point to move along the vibration excitation direction vector, with the movement distance equal to the preset micro-amplitude excitation step size. During the movement, the vibration excitation direction vector remains unchanged; only the spatial coordinates of the candidate position point are changed, ensuring the accuracy and stability of the movement process and avoiding poor vibration excitation effect or spreader swaying due to movement deviation. When the candidate position point has moved the preset micro-amplitude excitation step size along the vibration excitation direction vector, the movement operation stops, and the resulting position point is the third position point. The third position point is the position point after the candidate position point has been adjusted by micro-amplitude vibration excitation, maintaining the tension balance characteristics of the candidate position point while effectively exciting the micro-amplitude vibration of the crane structure.

[0074] Step 2047: Based on the spatial coordinate information of the third position point and the center of symmetry of the suspension point of the hoisting rope, analyze whether the third position point is located within the vertical projection cylinder of the center of symmetry of the suspension point to obtain the spatial recognition result.

[0075] Optionally, the suspension point of the lifting rope refers to the connection point between the rope and the crane body, used for fixing and suspending the rope. The center of symmetry of the suspension point refers to the center position of the geometric figure formed by all the suspension points of the lifting rope. Its spatial coordinate information is set based on the structural design parameters of the crane and the distribution of the suspension points, and is an important benchmark for judging whether the position of the lifting device is reasonable. The anti-sway control device constructs a vertical projection cylinder of the center of symmetry of the suspension point based on the spatial coordinate information of the center of symmetry of the suspension point. The vertical projection cylinder refers to a cylindrical structure perpendicular to the horizontal plane with the center of symmetry of the suspension point as its axis. The axis of this cylinder is the vertical center line of the center of symmetry of the suspension point. The radius of the cylinder is set based on the maximum allowable swing range of the lifting device and the length parameters of the rope, used to limit the reasonable movement space of the lifting device and ensure that the lifting device will not deviate from this range during movement, resulting in uneven rope tension or lifting device swaying.

[0076] Furthermore, based on the spatial coordinate information of the third position point and the constructed vertical projection cylinder, the anti-sway control device analyzes whether the third position point is located inside the vertical projection cylinder. The analysis process in this embodiment of the invention is as follows: calculate the horizontal distance from the third position point to the vertical axis of the symmetry center of the suspension point; compare the horizontal distance with the radius of the vertical projection cylinder; if the horizontal distance is less than or equal to the radius of the vertical projection cylinder, it is determined that the third position point is located inside the vertical projection cylinder; if the horizontal distance is greater than the radius of the vertical projection cylinder, it is determined that the third position point is located outside the vertical projection cylinder.

[0077] Step 2048: If the spatial recognition result indicates that the third position point is located inside the vertical projection cylinder, then the third position point is determined as the offset position point.

[0078] Optionally, when the spatial recognition result indicates that the third position point is located inside the vertical projection cylinder, it means that the third position point is within the reasonable range of motion of the lifting device. At this time, the third position point not only meets the tension balance requirements of the lifting device rope, but also effectively excites the micro-vibration of the crane structure. At the same time, it will not cause the lifting device to sway or the positioning accuracy to decrease due to position deviation. Therefore, the third position point is directly determined as the offset position point.

[0079] Step 2049: If the spatial recognition result indicates that the third position point is located outside the vertical projection cylinder, then the third position point is moved to the inside of the vertical projection cylinder so that the distance between the third position point and the cylinder boundary of the vertical projection cylinder is less than a preset distance threshold, and the offset position point is obtained.

[0080] Optionally, when the spatial recognition result indicates that the third position point is outside the vertical projection cylinder, it means that the third position point is outside the reasonable range of motion of the lifting device. If it is directly used as the offset position point, it will cause uneven force on the lifting device rope, shaking of the lifting device, and even affect the positioning accuracy and safety of nuclear waste transfer.

[0081] The preset distance threshold refers to the minimum allowable distance between the third position point and the cylindrical boundary of the vertical projection cylinder. It is set based on the motion accuracy requirements of the lifting device and the safety range of the rope force. The value is small and fixed, and is used to ensure that the adjusted third position point is within a reasonable safety range.

[0082] The anti-sway control device moves the third position point inwards towards the vertical projection cylinder. The direction of movement is from the third position point towards the vertical axis of the suspension point's center of symmetry. During the movement, the distance between the third position point and the boundary of the vertical projection cylinder is calculated in real time until this distance is less than a preset distance threshold and the third position point is completely inside the vertical projection cylinder. At this point, the movement stops. The position point obtained after the movement is completed is the offset position point. This offset position point retains the tension balance and vibration excitation characteristics of the third position point while remaining within the reasonable range of motion of the lifting device.

[0083] The embodiments of the present invention achieve precise offset of candidate position points, effectively stimulate the crane's micro-vibration to dissipate kinetic energy, avoid the offset affecting positioning accuracy and operational safety, ensure the orderly release of the potential swing kinetic energy accumulated by the lifting device due to positive energy injection, curb the excitation of lifting device swing from the source, realize the coordinated control of high-precision positioning and ultra-low residual swing, and improve the safety and reliability of nuclear waste transfer.

[0084] Optionally, the processes of steps 301 to 304 include: Step 301: Connect the spatial coordinate information of the offset position point and the spatial coordinate information of the first position point to obtain the initial path segment. Based on the spatial orientation information of the initial path segment and the node position information of the preset bending mode vibration mode on the main beam of the crane, analyze whether the initial path segment passes through the node region of the bending mode vibration mode to obtain the orientation analysis result.

[0085] Optionally, the anti-sway control device connects the first position point and the offset position point with a straight line based on the spatial coordinate information of the offset position point and the spatial coordinate information of the first position point to obtain an initial path segment. Therefore, the initial path segment is the basic prototype of the current local energy dissipation path segment. It is a straight line segment connecting the starting point (first position point) and the ending point (offset position point). Its spatial direction information is determined by the coordinate difference between the two position points, which clarifies the basic direction and extension trend of the path.

[0086] Furthermore, the anti-sway control device determines the spatial orientation information of the initial path segment. The spatial orientation information refers to the extension direction, tilt angle, and other related information of the initial path segment in three-dimensional space, which can be determined by the coordinate difference between two location points. It also obtains the node position information of the bending mode vibration mode, which refers to the three-dimensional spatial coordinate information of each node.

[0087] Furthermore, the anti-sway control device analyzes whether the initial path segment passes through the node region of the bending mode based on the spatial orientation information of the initial path segment and the node position information of the bending mode. The node region refers to a spherical region centered on each node and encompassed by a preset node neighborhood radius. The preset node neighborhood radius is a small radius set based on the node size and the vibration characteristics of the main beam, used to define the influence range of the node. The analysis process in this embodiment is as follows: determining the spatial range of the node region corresponding to each node; determining whether the initial path segment intersects with any node region, i.e., whether a portion of the initial path segment lies within a node region; if the initial path segment intersects with at least one node region, it is determined that the initial path segment passes through the node region; if the initial path segment does not intersect with any node region, it is determined that the initial path segment does not pass through the node region.

[0088] Step 302: If the orientation analysis result indicates that the initial path segment passes through the node area, then the target line segment of the initial path segment in the node area is replaced with a bypass arc segment to obtain the first target path segment.

[0089] Optionally, when the orientation analysis results indicate that the initial path segment passes through the node region, it means that the initial path segment passes through the node influence range of the main beam bending mode vibration. If the initial path segment is directly used as part of the local energy dissipation path segment, it will lead to uneven kinetic energy dissipation of the spreader, and may even cause abnormal vibration of the main beam, affecting the structural safety of the crane and the motion stability of the spreader. Therefore, the anti-sway control device determines the segment located in the node region on the initial path segment, that is, the target segment. Thus, the target segment is the specific segment of the initial path segment that passes through the node region. Its length is determined by the intersection range of the initial path segment and the node region. The start and end positions of the target segment can be accurately determined by the spatial range of the node region and the coordinate information of the initial path segment.

[0090] Furthermore, the anti-sway control device replaces the target line segment with a bypass arc segment. This bypass arc segment is a smooth, curved line segment used to avoid node areas, ensuring the path segment does not cross these areas while maintaining path continuity and smoothness, preventing sudden path changes that could cause the spreader to sway. The curvature center of the bypass arc segment is located inside the web of the main beam. The main beam web is the core load-bearing component of the crane's main beam, located on the inner side to enhance its structural strength and rigidity. The curvature center being located inside the main beam web ensures that the bending direction of the bypass arc segment matches the structural characteristics of the main beam, preventing abnormal stress on the main beam due to unreasonable path bending direction, and ensuring the smoothness of the spreader's movement.

[0091] Furthermore, the anti-sway control device identifies the replaced path segment as the first target path segment.

[0092] Therefore, the first target path segment is the path segment after the initial path segment has been adjusted by detouring around the node area. It retains the part of the initial path segment that does not pass through the node area, and only replaces the target segment that passes through the node area with the detouring arc segment, thus ensuring the continuity and smoothness of the path and avoiding the node area.

[0093] Step 303: Based on the geometric curvature distribution information of the first target path segment and the spatial layout information of the suspension points of the lifting rope, analyze whether the radius of curvature of the first target path segment in the horizontal plane is less than the minimum allowable turning radius of the lifting equipment, and obtain the radius of curvature analysis results.

[0094] Optionally, the geometric curvature distribution information refers to the degree of curvature and distribution of each point on the first target path segment, including the curvature values ​​and curvature change trends at different positions on the segment. It is obtained by calculating the curvature of each point on the segment one by one using the spatial coordinate information of the first target path segment. The calculation method is as follows: based on the spatial coordinates of three adjacent points on the segment, calculate the curvature of the arc formed by the three points, which is the curvature of the middle point. The geometric curvature distribution information of the entire first target path segment is obtained by calculating in sequence.

[0095] At the same time, the anti-sway control device acquires the spatial layout information of the suspension points of the lifting ropes. The spatial layout information of the suspension points refers to the three-dimensional spatial coordinates, distribution spacing, and arrangement of all suspension points.

[0096] The anti-sway control device analyzes the radius of curvature of the first target path segment in the horizontal plane. The radius of curvature in the horizontal plane refers to the bending radius of the first target path segment in the horizontal direction, calculated from the curvature of the segment in the horizontal plane. Curvature and radius of curvature are reciprocals, i.e., the radius of curvature equals the reciprocal of curvature. The core of the analysis is to determine whether the radius of curvature in the horizontal plane is less than the minimum permissible turning radius of the lifting device. The minimum permissible turning radius of the lifting device refers to the minimum turning radius that allows the lifting device to remain stable and prevent swaying or rope overload when making turning movements in the horizontal direction. This radius is set based on the structural dimensions of the lifting device, the length of the rope, and the weight of the lifting device and the nuclear waste. Optionally, the analysis process in this embodiment of the invention is as follows: based on the geometric curvature distribution information of the first target path segment, determine all curvature values ​​of the segment in the horizontal plane, and calculate the curvature radius corresponding to each curvature; compare each curvature radius with the minimum allowable turning radius of the lifting device; if at least one curvature radius is smaller than the minimum allowable turning radius of the lifting device, it is determined that the condition of "curvature radius is smaller than the minimum allowable turning radius" is met; if all curvature radii are greater than or equal to the minimum allowable turning radius of the lifting device, it is determined that the condition is not met.

[0097] Step 304: Based on the curvature radius analysis results and the centerline information of the crane's trolley track guide surface, construct the current local energy dissipation path segment.

[0098] Optionally, based on the curvature radius analysis results and the centerline information of the crane's trolley track guide surface, the current local energy dissipation path segment is constructed, as in steps 3041 to 3045.

[0099] This invention constructs a precise local energy dissipation path segment, providing a safe dissipation channel for the potential swaying energy accumulated by the spreader. It effectively solves the problem of "reverse compensation easily causing resonance", ensuring that the excess kinetic energy of the spreader can be released in an orderly manner, avoiding the high-order resonance caused by concentrated energy bursts. At the same time, it takes into account the stability of the spreader's motion and the adaptability of the trolley track, realizing the coordinated control of high-precision positioning and ultra-low residual sway, and improving the safety and reliability of nuclear waste transfer.

[0100] Optionally, the process of steps 3041 to 3045 includes: Step 3041: If the curvature radius analysis result indicates that the curvature radius is less than the minimum allowable turning radius, then the curvature radius of the first target path segment is enlarged to be equal to the minimum allowable turning radius to obtain the second target path segment.

[0101] Optionally, the minimum permissible turning radius of the spreader refers to the minimum turning radius at which the spreader can remain stable and not sway or experience rope overload when making turning movements in the horizontal direction.

[0102] Optionally, the anti-sway control device judges the curvature radius analysis results to determine whether they indicate that the curvature radius of the first target path segment in the horizontal plane is less than the minimum permissible turning radius of the spreader. When the curvature radius analysis results indicate that the curvature radius is less than the minimum permissible turning radius, it means that the turning radius of some sections of the first target path segment is too small. If this path is directly followed, it will cause the spreader to sway violently during movement, the rope will be overloaded, and it may even affect the safety and stability of nuclear waste transfer. Therefore, the anti-sway control device locates all sections of the first target path segment with a curvature radius less than the minimum permissible turning radius, and adjusts the curvature radius of these sections one by one. The core requirement of the adjustment is to enlarge the curvature radius of each section to be equal to the minimum permissible turning radius of the spreader, ensuring that the adjusted path segment can meet the requirements for smooth turning of the spreader. During the adjustment process, the spatial orientation of the path segment remains unchanged, and only its curvature is changed to ensure the continuity and smoothness of the path and avoid abrupt changes in the path due to the adjustment.

[0103] After all sections with curvature radii smaller than the minimum permissible turning radius are adjusted, the resulting path segment is the second target path segment. Therefore, the second target path segment is the path after the curvature radius of the first target path segment has been optimized and adjusted. The curvature radius of all sections is not less than the minimum permissible turning radius of the spreader, which can ensure the stability of the spreader when moving along the path and avoid swaying and rope overload problems.

[0104] Step 3042: Based on the information of the center line of the track guide surface and the spatial trajectory information of the second target path segment, project the second target path segment onto the center line of the track guide surface to obtain the third target path segment.

[0105] Optionally, the anti-sway control device projects the second target path segment onto the centerline of the track guide surface based on the information of the track guide surface centerline and the spatial trajectory information of the second target path segment. The projection operation maintains the length and curvature of the second target path segment while adjusting its spatial position to coincide with the centerline of the track guide surface, ensuring that the path segment is compatible with the trolley's running track guidance. The projection process in this embodiment is as follows: determining the spatial coordinate range and extension direction of the track guide surface centerline; projecting each position point on the second target path segment onto the track guide surface centerline along a direction perpendicular to the track guide surface centerline, obtaining the projection point corresponding to each position point; connecting all projection points sequentially according to the original order of the second target path segment to form a path segment, which is the third target path segment. Therefore, the third target path segment is completely located on the track guide surface centerline, ensuring that the trolley drives the lifting device to run smoothly along the track guide surface centerline, avoiding abnormal movement caused by the lifting device's position deviating from the track guide.

[0106] Step 3043: Based on the tangent direction change rate information of the third target path segment and the preset maximum allowable angular acceleration limit, analyze whether the third target path segment will cause the torque output by the trolley drive mechanism to exceed the preset safety threshold, and obtain the operation safety analysis result.

[0107] Optionally, the tangent direction change rate information refers to the rate at which the tangent direction at each point on the third target path segment changes as the path extends, reflecting the severity of the path curvature. The greater the tangent direction change rate, the more severe the path curvature and the more rapidly the vehicle's direction of motion changes. The method for obtaining this information is as follows: calculate the tangent direction of each pair of adjacent points on the third target path segment, then calculate the angle between the two adjacent tangent directions. Divide the angle value by the distance between the two adjacent points to obtain the tangent direction change rate for that interval. Repeat this process to obtain the tangent direction change rate information for the entire third target path segment.

[0108] The maximum permissible angular acceleration limit refers to the maximum angular acceleration that the crane trolley can withstand during movement. It is set based on the performance parameters of the trolley drive mechanism, the structural strength of the crane, and the stability requirements for nuclear waste transfer. It limits the rate of change of the trolley's direction of movement to prevent excessive angular acceleration from overloading the trolley drive mechanism. The preset safety threshold refers to the maximum safe torque that the crane trolley drive mechanism can output. It is set based on parameters such as the rated power, structural strength, and service life of the trolley drive mechanism. It is used to assess the operational safety of the trolley drive mechanism and prevent torque overload from damaging the drive mechanism.

[0109] The anti-sway control device analyzes whether the third target path segment will cause the torque output of the trolley drive mechanism to exceed a preset safety threshold. The specific analysis process is as follows: Based on the tangential direction change rate information, the angular acceleration required for the trolley to move along the third target path segment is calculated. Angular acceleration is positively correlated with the tangential direction change rate; the greater the tangential direction change rate, the greater the required angular acceleration. The calculated angular acceleration is compared with the preset maximum permissible angular acceleration limit. If the angular acceleration exceeds the maximum permissible angular acceleration limit, the torque required to be output by the trolley drive mechanism is calculated. The calculated torque is compared with the preset safety threshold. If the torque exceeds the preset safety threshold, it is determined that the third target path segment will cause torque overload of the drive mechanism; otherwise, it is determined that the third target path segment will not cause torque overload of the drive mechanism.

[0110] Step 3044: If the running safety analysis result indicates that the torque exceeds the preset safety threshold, then a transition curve segment is inserted into the target curvature section of the third target path segment to obtain the fourth target path segment.

[0111] Optionally, when the safety analysis results indicate that the torque output by the trolley drive mechanism exceeds the preset safety threshold, it means that some sections of the third target path segment are bent too severely, causing the trolley's movement direction to change too quickly and the drive mechanism to be overloaded. If the path is directly followed, the trolley drive mechanism will be damaged, affecting the safety of nuclear waste transfer. Therefore, the anti-sway control device locates the section on the third target path segment that causes the torque to exceed the preset safety threshold, i.e., the target curvature section. Thus, the target curvature section is the section in the third target path segment where the tangential direction change rate is too large and the bending is too severe.

[0112] Furthermore, the anti-sway control device inserts a transition curve segment in the target curvature section. This transition curve segment, designed to reduce the path's curvature and ensure a smooth transition in the vehicle's direction of motion, is constructed based on cubic spline geometry. Cubic spline geometry refers to a curve formed by the smooth connection of multiple cubic polynomial curve segments, ensuring the continuity, smoothness, and gradual change of tangent direction of the transition curve segment, thus avoiding abrupt changes in the path. The two ends of the transition curve segment are tangent to the two ends of the target curvature section of the original third target path segment. Tangency means that the tangent direction at both ends of the transition curve segment is completely consistent with the tangent direction at the corresponding position of the original path segment, ensuring the continuity and smoothness of the entire path after the insertion of the transition curve segment.

[0113] After the transition curve segment is inserted, the resulting path segment is the fourth target path segment. Therefore, the fourth target path segment is the optimized and adjusted path of the third target path segment. By inserting the transition curve segment, it reduces the curvature of the target curvature section and decreases the rate of change of the tangent direction, ensuring that the torque output by the drive mechanism does not exceed the preset safety threshold when the trolley moves along the path.

[0114] Step 3045: Based on the spatial coordinate sequence information of the fourth target path segment and the current lifting height value of the lifting device, construct the current local energy dissipation path segment.

[0115] Optionally, based on the spatial coordinate sequence information of the fourth target path segment and the current lifting height value of the spreader, the current local energy dissipation path segment is constructed, as in steps 30451 to 30454.

[0116] The embodiments of the present invention establish a precise local energy dissipation path segment, providing a safe dissipation channel for the potential swaying energy accumulated by the lifting device, effectively avoiding high-order resonance caused by concentrated energy bursts, while taking into account the smoothness of the lifting device's movement, the adaptability of the trolley track, and the safety of equipment operation, realizing the coordinated control of high-precision positioning and ultra-low residual sway, and ensuring the safety and stability of the nuclear waste transfer process.

[0117] Optionally, the processes of steps 30451 to 30454 include: Step 30451: Based on the current lifting height value and the spatial coordinate sequence information of the fourth target path segment, calculate the static sway angle of the spreader at each path point on the fourth target path segment, and retract the path points whose static sway angle exceeds the maximum allowable static sway angle limit along the opposite direction of the motion direction vector to the position where the static sway angle is equal to the maximum allowable static sway angle limit, thus obtaining the fifth target path segment.

[0118] Optionally, the current lifting height of the spreader refers to the vertical distance between the spreader and the ground or the crane reference plane at the current moment. The spatial coordinate sequence information obtained in real time based on the operating parameters of the crane lifting mechanism refers to the sequence formed by arranging the three-dimensional spatial coordinates of all positions on the fourth target path segment in order, which can fully reflect the spatial distribution of the fourth target path segment.

[0119] Based on the current lifting height and the spatial coordinate sequence information of the fourth target path segment, the anti-sway control device calculates the static sway angle of the spreader at each path point on the fourth target path segment. The static sway angle of the spreader refers to the angle between the center line of the spreader and the vertical line when the spreader is in a static state. This angle reflects the degree of static offset of the spreader at the corresponding path point. The larger the angle, the more obvious the static offset of the spreader, and the easier it is to cause swaying.

[0120] Optionally, the calculation method of this embodiment of the invention is as follows: For each path point on the fourth target path segment, the horizontal distance between the two points is calculated based on the horizontal spatial coordinates of the path point and the horizontal spatial coordinates of the suspension point of the spreader; then, taking the horizontal distance as the opposite side and the current lifting height of the spreader as the adjacent side, the static sway angle of the spreader is calculated by trigonometric functions, that is, the tangent of the static sway angle is equal to the ratio of the horizontal distance to the current lifting height, and the specific value of the static sway angle is calculated.

[0121] The maximum permissible static sway angle limit refers to the maximum sway angle at which the lifting device can remain stable without swaying and without affecting the safety of nuclear waste transfer in a static state. This limit is set based on the structural characteristics of the lifting device, the accuracy requirements for nuclear waste transfer, and the stability parameters of the crane. The anti-sway control device compares the calculated static sway angle of each path point with the maximum permissible static sway angle limit, identifying path points whose static sway angle exceeds this limit. For these exceeding path points, the anti-sway control device adjusts them in the opposite direction of the motion vector. The adjustment process involves gradually moving the exceeding path point while simultaneously calculating the static sway angle of that point in real time until the static sway angle equals the maximum permissible static sway angle limit, at which point the adjustment stops.

[0122] After all the out-of-range path points have been adjusted, connect all the adjusted path points sequentially according to the original fourth target path segment order. The resulting path segment is the fifth target path segment. The static sway angle of all path points on the fifth target path segment does not exceed the maximum allowable static sway angle limit, which can ensure that the spreader is in a stable static state on this path segment and avoid swaying of the spreader due to excessive static sway.

[0123] Step 30452: Based on the start-point and end-point timestamp information of the fifth target path segment, allocate a path execution time window, and within the path execution time window, divide the fifth target path segment into a preset number of path control points to obtain a discretized energy dissipation path segment.

[0124] Optionally, the start time stamp information refers to the specific time when the spreader begins to move along the fifth target path segment, and the end time stamp information refers to the specific time when the spreader completes to move along the fifth target path segment.

[0125] Optionally, the anti-sway control device allocates a path execution time window based on the start time stamp information and the end time stamp information. The path execution time window refers to the time range within which the lifting device completes its movement along the fifth target path segment. Its start time is the time corresponding to the start time stamp, and its end time is the time corresponding to the end time stamp. The duration of the time window is equal to the difference between the end time stamp and the start time stamp, ensuring that the lifting device can complete the path movement within the specified time and adapt to the overall rhythm of nuclear waste transfer.

[0126] The preset number of path control points refers to the number of nodes pre-set for discretizing the fifth target path segment, based on the motion accuracy requirements of the lifting device, the control accuracy of each mechanism of the crane, and the uniformity requirements of energy dissipation. Within the allocated path execution time window, the anti-sway control device divides the fifth target path segment into the preset number of path control points. Optionally, the division process in this embodiment of the invention is as follows: calculate the total length of the fifth target path segment; based on the duration of the path execution time window and the preset number of path control points, determine the distance and time interval between two adjacent path control points to ensure that the distance between adjacent control points is uniform and the time interval is fixed; starting from the starting point of the fifth target path segment, select path points as path control points sequentially according to the calculated distance intervals until the ending point of the fifth target path segment is selected, ensuring that the path control points are evenly distributed on the fifth target path segment; arrange all path control points in sequence to form a discretized path segment, which is the discretized energy dissipation path segment.

[0127] Step 30453: Based on the path control point sequence information of the discretized energy dissipation path segment and the motion coupling relationship information of each mechanism of the crane, generate a coordinated drive command sequence for each mechanism.

[0128] Optionally, the path control point sequence information refers to the sequence formed by arranging the three-dimensional spatial coordinates and corresponding timestamps of all path control points on the discretized energy dissipation path segment in order. The motion coupling relationship information of the various mechanisms of the crane refers to the information on the mutual influence and constraint of the motion between the various mechanisms, including the correlation between the motion speed, motion direction, and running amplitude of each mechanism, based on the structural design parameters of the crane and the performance parameter settings of each mechanism.

[0129] The anti-sway control device generates a coordinated drive command sequence for each mechanism based on the aforementioned path control point sequence information and the motion coupling relationship information of each mechanism. The coordinated drive command sequence refers to a set of commands used to control the coordinated operation of each mechanism of the crane. Each command corresponds to a path control point and includes control parameters such as the operating speed, operating direction, and operating amplitude of each mechanism at the corresponding time. Optionally, the generation process in this embodiment of the invention is as follows: For each path control point in the path control point sequence, based on the spatial coordinates of the control point and the corresponding timestamp, combined with the motion coupling relationship information of each mechanism, the operating speed, operating direction, and operating amplitude required for each mechanism to reach the control point are calculated; the control parameters of each mechanism corresponding to each control point are arranged in chronological order to form a coordinated drive command sequence for each mechanism, ensuring that each mechanism can operate coordinatedly according to the commands, driving the spreader to move smoothly along the discrete energy dissipation path segment.

[0130] Step 30454: The cooperative drive command sequence is configured so that when the spreader runs along the discretized energy dissipation path segment, the rope tension change rate exhibits a characteristic fluctuation pattern of first decreasing and then increasing, so that the kinetic energy of the spreader is continuously converted into the micro-amplitude vibration energy of the crane structure, thus obtaining the current local energy dissipation path segment.

[0131] Optionally, the rate of change of rope tension refers to the speed at which the rope tension changes over time, reflecting the drastic degree of change in rope tension. The characteristic fluctuation pattern of first decreasing and then increasing refers to the fluctuation law in which the rate of change of rope tension gradually decreases from the initial value to the minimum value, and then gradually increases from the minimum value back to the initial value.

[0132] The anti-sway control device configures and adjusts the coordinated drive command sequence. The adjustment process is as follows: based on the path control point sequence information of the discretized energy dissipation path segment, combined with the target fluctuation pattern of the rope tension change rate, the operating speed and operating amplitude parameters in the coordinated drive commands of each mechanism are adjusted so that the rope tension change rate can accurately exhibit a characteristic of first decreasing and then increasing during the operation of the lifting device along the discretized energy dissipation path segment. Specifically, the adjustment logic is as follows: in the early part of the path, the operating speed change rate of each mechanism is gradually reduced, so that the rope tension change rate gradually decreases; in the later part of the path, the operating speed change rate of each mechanism is gradually increased, so that the rope tension change rate gradually increases, ensuring that the fluctuation of the rope tension change rate conforms to the target pattern.

[0133] When the cooperative drive command sequence is configured and can meet the characteristic fluctuation mode of the rope tension change rate and realize the continuous conversion of the kinetic energy of the lifting device into the micro-vibration energy of the crane structure, the discretized energy dissipation path segment corresponding to the cooperative drive command sequence is determined as the current local energy dissipation path segment.

[0134] The embodiments of the present invention construct a precise energy dissipation path segment, optimize the controllable dissipation channel of the potential swing energy of the spreader, effectively avoid high-order resonance caused by concentrated energy bursts, ensure that the kinetic energy of the spreader can be released smoothly and continuously, and at the same time take into account the stability of the spreader's motion, the coordination of various mechanisms and energy dissipation, realize the coordinated control of high-precision positioning and ultra-low residual swing, and ensure the safety of the nuclear waste transfer process.

[0135] Furthermore, the dual closed-loop anti-sway control device for the intelligent crane for nuclear waste transfer provided by the present invention will be described below. The dual closed-loop anti-sway control device for the intelligent crane for nuclear waste transfer described below can be referred to in correspondence with the dual closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer described above.

[0136] Reference Figure 2 , Figure 2 This is a schematic diagram of the dual closed-loop anti-sway control device for the intelligent nuclear waste transfer crane provided by the present invention. The dual closed-loop anti-sway control device for the intelligent nuclear waste transfer crane includes: The energy flow analysis module 210 is used to drive the operation of each mechanism of the crane based on the first position point and its motion direction vector corresponding to the current moment in the motion trajectory sequence generated based on the target position information specified by the nuclear waste transfer task, so as to obtain the energy flow direction of the lifting device in the current motion state. The spatial offset module 220 is used to spatially offset the second position point after the first position point along the motion direction vector if the energy flow direction indicator is positively injected between the energy flow direction indicator and the crane body, so as to obtain the offset position point. Path construction module 230 is used to construct the current local energy dissipation path segment based on the offset position point; The anti-sway control module 240 is used to drive the operation of each mechanism based on the current local energy dissipation path segment. When the energy flow direction indicates that the energy flow between the spreader and the crane body turns into reverse energy return, the current local energy dissipation path segment is terminated, and the position points that have not been offset in the motion trajectory sequence are restored until each mechanism reaches the target position and the energy flow direction indicates that there is no net energy exchange. Then, the driving action is terminated and the position of the spreader is locked.

[0137] The embodiments of the present invention realize active intervention in the energy path before the swing is excited, abandoning the post-compensation mode of the existing methods, avoiding the problems of non-minimum phase system resonance amplification and swing amplitude "suppression and then rise" caused by reverse velocity command, solving the risk of swing runaway caused by post-compensation, realizing the coordinated control of high-precision positioning and ultra-low residual swing, thereby improving the safety of nuclear waste transportation.

[0138] Please see Figure 3 , Figure 3 An embodiment diagram of an electronic device provided in accordance with the present invention. For example... Figure 3 As shown, an embodiment of the present invention provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor 320. When the processor 320 executes the computer program 311, it implements the processes of steps 10 to 40.

[0139] Please see Figure 4 , Figure 4 An embodiment diagram of a computer-readable storage medium provided in accordance with an embodiment of the present invention is shown. Figure 4 As shown, this embodiment provides a computer-readable storage medium 400 on which a computer program 311 is stored. When the computer program 311 is executed by a processor, it implements the processes of steps 10 to 40.

[0140] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the dual closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer provided by the above methods, which includes steps 10 to 40.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dual-closed-loop anti-sway control method for an intelligent crane for nuclear waste transfer, characterized in that, include: Based on the target location information specified in the nuclear waste transfer mission, the first position point corresponding to the current moment and its motion direction vector are generated in the motion trajectory sequence to drive the operation of each mechanism of the crane in order to obtain the energy flow direction of the lifting device in the current motion state. If the energy flow direction indicates that energy is injected positively between the lifting device and the crane body, then the second position point after the first position point is spatially offset along the motion direction vector to obtain the offset position point; Construct the current local energy dissipation path segment based on the offset position point; The current local energy dissipation path segment drives the operation of each mechanism. When the energy flow direction indicates that the energy flow between the spreader and the crane body turns into reverse energy flow, the current local energy dissipation path segment is terminated, and the position points that have not been offset in the motion trajectory sequence are restored. The driving action is terminated and the position of the spreader is locked when each mechanism reaches the target position and the energy flow direction indicates that there is no net energy exchange.

2. The dual closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer according to claim 1, characterized in that, The construction of the current local energy dissipation path segment based on the offset position point includes: Based on the spatial coordinate information of the offset position point and the spatial coordinate information of the first position point, an initial path segment is obtained. Based on the spatial orientation information of the initial path segment and the node position information of the preset bending mode vibration mode on the main beam of the crane, it is analyzed whether the initial path segment passes through the node region of the bending mode vibration mode to obtain the orientation analysis result. If the orientation analysis result indicates that the initial path segment passes through the node area, then the target line segment of the initial path segment in the node area is replaced with a bypass arc segment to obtain the first target path segment; the curvature center of the bypass arc segment is located inside the web of the main beam. Based on the geometric curvature distribution information of the first target path segment and the spatial layout information of the suspension points of the lifting rope, the curvature radius of the first target path segment in the horizontal plane is analyzed to determine whether it is less than the minimum allowable turning radius of the lifting equipment, and the curvature radius analysis results are obtained. Based on the curvature radius analysis results and the centerline information of the crane's trolley track guide surface, the current local energy dissipation path segment is constructed.

3. The dual closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer according to claim 2, characterized in that, Constructing the current local energy dissipation path segment includes: If the curvature radius analysis result indicates that the curvature radius is less than the minimum allowable turning radius, then the curvature radius of the first target path segment is enlarged to be equal to the minimum allowable turning radius to obtain the second target path segment; Based on the information of the centerline of the track guide surface and the spatial trajectory information of the second target path segment, the second target path segment is projected onto the centerline of the track guide surface to obtain the third target path segment; Based on the tangential direction change rate information of the third target path segment and the preset maximum allowable angular acceleration limit, the system analyzes whether the third target path segment will cause the torque output by the trolley drive mechanism to exceed the preset safety threshold, and obtains the operation safety analysis results. If the operational safety analysis result indicates that the torque exceeds a preset safety threshold, a transition curve segment is inserted into the target curvature section of the third target path segment to obtain a fourth target path segment; the transition curve segment is based on cubic spline geometry and is tangent to the original path at both ends; Based on the spatial coordinate sequence information of the fourth target path segment and the current lifting height of the lifting device, the current local energy dissipation path segment is constructed.

4. The dual closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer according to claim 3, characterized in that, The construction of the current local energy dissipation path segment based on the spatial coordinate sequence information of the fourth target path segment and the current lifting height of the lifting device includes: Based on the current lifting height and the spatial coordinate sequence information of the fourth target path segment, the static sway angle of the spreader at each path point on the fourth target path segment is calculated, and the path points whose static sway angle exceeds the maximum allowable static sway angle limit are moved back along the opposite direction of the motion direction vector to a position where the static sway angle is equal to the maximum allowable static sway angle limit, thus obtaining the fifth target path segment. Based on the start-point and end-point timestamp information of the fifth target path segment, a path execution time window is allocated, and within the path execution time window, the fifth target path segment is divided into a preset number of path control points to obtain a discretized energy dissipation path segment. Based on the path control point sequence information of the discretized energy dissipation path segment and the motion coupling relationship information of each mechanism of the crane, a coordinated drive command sequence of each mechanism is generated. The coordinated drive command sequence is configured such that when the spreader runs along the discrete energy dissipation path segment, the rope tension change rate exhibits a characteristic fluctuation pattern of first decreasing and then increasing, so that the kinetic energy of the spreader is continuously converted into the micro-amplitude vibration energy of the crane structure, thus obtaining the current local energy dissipation path segment.

5. The dual closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer according to any one of claims 1 to 4, characterized in that, The step of spatially offsetting the second position point after the first position point along the motion direction vector to obtain the offset position point includes: Based on the directional component information of the motion direction vector and the spatial orientation information of the slope direction of the preset bending mode vibration mode on the main beam of the crane, the spatial alignment relationship between the opposite direction of the motion direction vector and the slope direction of the bending mode vibration mode is analyzed. Based on the spatial alignment relationship, the reference offset direction in the opposite direction of the motion direction vector is determined, and based on the node spacing parameters of the bending mode, the vibration amplitude gain excited by moving the second position point along the reference offset direction by half a node spacing is analyzed to obtain the gain offset distance. Based on the relationship between the gain offset distance and the preset safety offset limit, the target offset distance is determined, and the second position point is moved along the reference offset direction by the target offset distance to obtain the candidate position point; Based on the spatial positional relationship between the candidate position point and the tension balance reference position set of the lifting rope, the candidate position point is spatially offset to obtain the offset position point.

6. The dual closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer according to claim 5, characterized in that, The process of spatially offsetting the candidate position points based on the spatial positional relationship between the candidate position points and the tension balance reference position set of the lifting rope to obtain the offset position points includes: If the spatial distance between the candidate location point and each reference point in the tension balance reference location set is greater than the preset tension balance neighborhood radius, then based on the spatial coordinate information of the candidate location point and the spatial coordinate information of the target reference point in the tension balance reference location set that is closest to the candidate location point, the tension recovery direction vector from the candidate location point to the target reference point is determined. Based on the spatial distance between the candidate position point and the target reference point, the first target position point is obtained by moving from the candidate position point to the target reference point along the tension recovery direction vector. Based on the spatial coordinate information of the first target location point, the first target location point is constrained to the center line of the guide surface of the crane's trolley to obtain the second target location point; Based on the spatial coordinates of the second target location and the minimum allowable bending radius of the wire rope of the lifting device, the lifting height of the lifting device is adjusted so that the actual bending radius of the wire rope at the pulley is equal to the minimum allowable bending radius, thus obtaining the offset location.

7. The dual closed-loop anti-sway control method for the intelligent crane for nuclear waste transfer according to claim 5, characterized in that, The process of spatially offsetting the candidate position points based on the spatial positional relationship between the candidate position points and the tension balance reference position set of the lifting rope to obtain the offset position points includes: If the spatial distance between the candidate position point and at least one reference point in the tension balance reference position set is less than or equal to the preset tension balance neighborhood radius, then based on the spatial coordinate information of the candidate position point and the spatial position information of the inflection point of the bending mode, the vibration excitation direction vector from the candidate position point to the inflection point is determined. Based on the candidate position point, a preset micro-amplitude excitation step size is moved along the vibration excitation direction vector to obtain the third position point; Based on the spatial coordinate information of the third position point and the center of symmetry of the suspension point of the rope of the lifting device, analyze whether the third position point is located in the vertical projection cylinder of the center of symmetry of the suspension point to obtain the spatial recognition result. If the spatial recognition result indicates that the third location point is located inside the vertical projection cylinder, then the third location point is determined as the offset location point; If the spatial recognition result indicates that the third position point is located outside the vertical projection cylinder, then the third position point is moved to the interior of the vertical projection cylinder, such that the distance between the third position point and the cylinder boundary of the vertical projection cylinder is less than a preset distance threshold, and the offset position point is obtained.

8. A dual closed-loop anti-sway control device for an intelligent crane for nuclear waste transfer, characterized in that, A dual-closed-loop anti-sway control method for a nuclear waste transfer intelligent crane as described in any one of claims 1 to 7; the dual-closed-loop anti-sway control device for the nuclear waste transfer intelligent crane includes: The energy flow analysis module is used to drive the operation of various mechanisms of the crane by using the first position point and its motion direction vector corresponding to the current moment in the motion trajectory sequence generated based on the target position information specified by the nuclear waste transfer task, so as to obtain the energy flow direction of the lifting device in the current motion state. The spatial offset module is used to spatially offset the second position point after the first position point along the motion direction vector if the energy flow direction indicator is positively injected between the lifting device and the crane body, so as to obtain the offset position point. The path building module is used to construct the current local energy dissipation path segment based on the offset position point; The anti-sway control module is used to drive the operation of each mechanism based on the current local energy dissipation path segment. When the energy flow direction indicates that the energy flow between the spreader and the crane body turns into reverse energy return, the current local energy dissipation path segment is terminated, and the position points that have not been offset in the motion trajectory sequence are restored until each mechanism reaches the target position and the energy flow direction indicates that there is no net energy exchange. Then, the driving action is terminated and the position of the spreader is locked.

9. An electronic device, comprising: Memory, used to store computer software programs; A processor for reading and executing the computer software program, characterized in that, when the processor executes the computer software program, it implements the dual closed-loop anti-sway control method for the intelligent nuclear waste transfer crane as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, wherein a computer software program is stored therein, characterized in that, When the computer software program is executed by the processor, it implements the dual closed-loop anti-sway control method for the intelligent nuclear waste transfer crane as described in any one of claims 1 to 7.

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