Novel deviation rectification control system for large shipbuilding portal crane cart

Abstract

The invention discloses a novel deviation correction control system for a large shipbuilding gantry crane cart, which relates to the technical field of intelligent control and comprises a speed detection module, a deviation detection module, a controller module and a cart running mechanism. The speed detection module is configured to detect the running speed of the cart running mechanism; the deviation detection module comprises a deviation position detection module and a deviation angle detection module and is configured to select the deviation position detection module or the deviation angle detection module according to a signal fed back by the controller module; and the cart running mechanism is configured to execute deviation correction movement according to the signal fed back by the controller module. The method has the advantages that the optimal deviation rectification strategy is selected in a self-adaptive mode under different load and speed conditions, the full-working-condition self-adaptive capacity is achieved, and high-precision and reliable deviation rectification of the position of the ship building portal crane cart can be achieved.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, specifically to a novel correction control system for large shipbuilding gantry cranes. Background Technology

[0002] Gantry cranes (also known as portal cranes) are key lifting equipment in factories, yards, ports, and other locations. The stability of their trolley traveling mechanism directly determines operational safety and efficiency. In heavy-load, high-speed applications such as large shipbuilding gantry cranes, factors such as uneven tracks, differences in motor characteristics, and transmission wear can easily cause the drive wheels on both sides of the trolley to run asynchronously, a phenomenon known as "deviation." Severe deviation can lead to rail wear, structural deformation, and even derailment accidents. Therefore, building a high-precision, high-reliability automatic deviation correction system is crucial.

[0003] Currently, the core technology of the deviation correction control system lies in the accurate detection of deviation, followed by speed compensation of the motors on both sides via a programmable logic controller (PLC) driven frequency converter. Existing deviation correction detection systems mainly rely on two types of sensor technologies: position detection and angle detection. Position detectors (such as laser displacement sensors or absolute encoders) obtain deviation by measuring the lateral displacement between the outrigger and the track or the number of wheel rotations. Their advantages are fast response and mature technology, but they are easily affected by factors such as track surface contamination, mechanical damage, and wheel slippage, resulting in inherent defects such as large measurement errors and weak anti-interference capabilities. Angle detectors (such as laser angle sensors or tilt sensors) reflect the deviation trend by monitoring the torsional deformation angle of the main beam or outrigger, possessing advantages such as high accuracy and strong resistance to environmental interference. However, their measurement results are easily affected by static factors such as the deflection of the main beam structure caused by hoisting loads, and their complex installation, requiring geometric conversion, introduces secondary errors.

[0004] In summary, both single-sensor position detection and angle detection have inherent application limitations and performance bottlenecks. For example, position detectors lack reliability under complex track conditions, while angle detectors have poor adaptability in heavy-load dynamic scenarios. Existing research largely focuses on algorithm optimization for single sensors, neglecting the complex and ever-changing dynamic operating conditions of cranes. Adhering to a single detection mode makes it difficult for the correction system to maintain optimal performance across the entire operating range. Therefore, it is essential to design a novel correction control system for large shipbuilding gantry cranes that combines accuracy, reliability, and adaptability. Summary of the Invention

[0005] The purpose of this invention is to provide a novel correction control system for large shipbuilding gantry cranes to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a novel correction control system for a large shipbuilding gantry crane, comprising a speed detection module, an offset detection module, a controller module, and a gantry crane running mechanism, wherein the controller module is communicatively connected to the speed detection module, the offset detection module, and the gantry crane running mechanism respectively; The speed detection module is configured to detect the operating speed of the trolley traveling mechanism. ; The controller module is configured to generate a selection signal for the offset detection module based on the signal fed back by the speed detection module. The offset detection module, including an offset position detection module and an offset angle detection module, is configured to select either the offset position detection module or the offset angle detection module based on signals fed back from the controller module; the offset position detection module is configured to detect the offset displacement of the trolley's flexible leg. The offset angle detection module is configured to detect the offset angle of the flexible leg of the trolley. ; The controller module is also configured to generate execution signals for the trolley traveling mechanism based on the signals fed back by the offset detection module. The trolley traveling mechanism is configured to perform corrective movement based on signals fed back from the controller module.

[0007] According to the above technical solution, the specific steps for the controller module to generate the selection signal for the offset detection module are as follows: Receive the operating speed of the trolley traveling mechanism The control system error caused by the offset position detection module at this speed is calculated using formulas (1) and (2) respectively. Control system error caused by offset angle detection module Determine the system error With the system error Based on the size relationship, select the appropriate offset detection module; Formula (1); Formula (2); in and The offset position detection module and the offset angle detection module are respectively located at a speed of System error at that time The scale parameter is a constant greater than 0. The attenuation parameter is a constant greater than 0. This is an inherent systematic error. The curvature parameter is a constant greater than 0. This represents the optimal operating speed when the error of the offset angle detection module is minimized. This represents the minimum systematic error.

[0008] According to the above technical solution, the system error of the offset position detection module in formula (1) With the operating speed of the trolley traveling mechanism The increase leads to a decrease.

[0009] According to the above technical solution, the control system further includes a gravity detection module, which is configured to detect the mass of the load lifted by the trolley traveling mechanism. ; The controller module is communicatively connected to the gravity detection module, and the controller module is configured to generate a selection signal for the offset detection module based on the signal fed back by the gravity detection module. The inherent systematic error in formula (1) The weight of the load lifted by the trolley traveling mechanism Related to the weight of the load lifted by the trolley traveling mechanism. The larger the inherent systematic error The smaller the value, the lower the systematic error at the same speed. The smaller.

[0010] According to the above technical solution, the system error of the offset angle detection module in formula (2) With the operating speed of the trolley traveling mechanism The increase first decreased and then rose.

[0011] According to the above technical solution, the control system further includes a gravity detection module, which is configured to detect the mass of the load lifted by the trolley traveling mechanism. ; The controller module is communicatively connected to the gravity detection module, and the controller module is configured to generate a selection signal for the offset detection module based on the signal fed back by the gravity detection module. The minimum systematic error in formula (2) The weight of the load lifted by the trolley traveling mechanism Related to the weight of the load lifted by the trolley traveling mechanism. The larger the value, the smaller the system error. The larger the value, the greater the systematic error at the same speed. The larger.

[0012] Based on the above technical solution, the system error of the offset position detection module is determined. System error with offset angle detection module Based on the size relationship, select the appropriate offset detection module, which further includes: when When selecting the offset angle detection module; when When selecting the offset position detection module, choose the module.

[0013] According to the above technical solution, the specific steps of the controller module in generating the execution signal of the trolley running mechanism are as follows: The offset displacement S of the trolley's flexible leg is received from the offset position detection module; or the offset angle of the trolley's flexible leg is received from the offset angle detection module. Calculate the offset displacement ,in The base distance for large shipbuilding gantry cranes; The control mechanism of the trolley travels in the opposite direction along the original travel path to correct its deviation. The amount of deviation movement is the offset displacement S.

[0014] According to the above technical solution, the control method of the control system includes the following steps: Step S100: Real-time acquisition of the operating speed of the trolley traveling mechanism The weight of the load lifted by the trolley traveling mechanism ; Step S200: Based on the running speed of the trolley traveling mechanism and the mass of the object hoisted by the trolley traveling mechanism The system errors introduced by the offset position detector and the offset angle detector are calculated respectively. and systematic error ; Step S300: Determine the system error With the system error Based on the size relationship, select the appropriate offset detector to obtain the offset displacement S of the flexible leg of the trolley; Step S400: Based on the offset displacement S of the trolley's flexible leg, control the trolley's traveling mechanism to move in the reverse direction along the original traveling path to correct its deviation. The value of the reverse correction movement is the same as the offset displacement S.

[0015] According to the above technical solution, step S300 further includes: Step S310: When At that time, select the offset angle detector to obtain the offset angle of the flexible leg of the trolley. ; Step S311: Calculate the offset of the flexible legs of the main vehicle. ,in The base distance for large shipbuilding gantry cranes; Step S320: When At that time, select the offset position detector to obtain the flexible offset displacement S of the trolley.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are: the present invention, (1) By setting up a speed detection module, an offset detection module, a controller module and a trolley running mechanism, the running speed of the trolley running mechanism is monitored in real time. The control system errors brought by the offset position detection module and the offset angle module are compared. By selecting the detection mode with smaller error, the accuracy and reliability of the offset detection module are improved, and the accuracy and reliability of the correction control system are further improved.

[0017] (2) By setting up a speed detection module, offset detection module, controller module, trolley running mechanism and gravity detection module, the system can detect the mass of the hoisted object by the trolley running mechanism in real time, and adjust the error model parameters by mass feedback, so that the system can dynamically optimize the detection mode selection according to the mass, improve the accuracy of the correction control system, ensure that the correction control is more reliable and efficient under all working conditions, and ultimately improve the stability and safety of the gantry crane operation.

[0018] (3) By setting up an adaptive correction control system that takes into account multiple factors, and integrating real-time data of the running speed and hoisting quality of the trolley traveling mechanism, the control parameters are optimized online and the detection mode is dynamically and intelligently switched, giving the crane the ability to adapt to all working conditions. This ensures that the optimal correction strategy can be automatically selected under different load and speed conditions, thereby ensuring the efficiency and safety of equipment operation and extending its service life. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the system module composition of the present invention. Detailed Implementation

[0020] 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.

[0021] Example 1 Please see Figure 1 The present invention provides a technical solution: a novel correction control system for a large shipbuilding gantry crane, comprising a speed detection module, an offset detection module, a controller module and a crane running mechanism, wherein the controller module is communicatively connected to the speed detection module, the offset detection module and the crane running mechanism respectively; The speed detection module is configured to detect the operating speed of the trolley traveling mechanism. ; The controller module is configured to generate a selection signal for the offset detection module based on the signals fed back from the speed detection module and the gravity detection module; The offset detection module, including an offset position detection module and an offset angle detection module, is configured to select either the offset position detection module or the offset angle detection module based on signals fed back from the controller module; the offset position detection module is configured to detect the offset displacement of the trolley's flexible legs. The offset angle detection module is configured to detect the offset angle of the flexible leg of the trolley. ; The controller module is also configured to generate execution signals for the trolley traveling mechanism based on the signals fed back by the offset detection module; The trolley traveling mechanism is configured to perform corrective movements based on signals fed back from the controller module.

[0022] In this embodiment, the specific steps for the controller module to generate the selection signal for the offset detection module are as follows: Receive the operating speed of the trolley traveling mechanism The control system error caused by the offset position detection module at this speed is calculated using formulas (1) and (2) respectively. Control system error caused by offset angle detection module Determine the system error With the system error Based on the size relationship, select the appropriate offset detection module; Formula (1); Formula (2); in and The offset position detection module and the offset angle detection module are respectively located at a speed of System error at that time is a scale parameter, representing the initial magnitude of the error, and is a constant greater than 0; The decay parameter represents the rate at which the error decreases as the velocity increases, and is a constant greater than 0. This is an inherent systematic error; This is the curvature parameter, manually set according to the adjustment precision, and is a constant greater than 0; This represents the optimal operating speed when the error of the offset angle detection module is minimized. This represents the minimum systematic error.

[0023] Specifically, the system error of the offset position detection module is determined. System error with offset angle detection module Based on the size relationship, select the appropriate offset detection module, which further includes: when When selecting the offset angle detection module; when When selecting the offset position detection module, choose the module.

[0024] Specifically, the control system error introduced by the offset position detection module in formula (1) With the operating speed of the trolley traveling mechanism The accuracy decreases as the speed increases. This is because at low speeds, nonlinear factors such as uneven track surfaces and gear backlash significantly interfere with direct position measurement. As the speed increases, the system enters a smoother, inertia-driven operating state, making position detection modules more stable and resulting in higher system accuracy.

[0025] Specifically, the control system error introduced by the offset angle detection module in formula (2) With the operating speed of the trolley traveling mechanism The increase first decreases and then increases. Its error occurs at a certain intermediate speed. At low speeds, the structural vibration frequency is low and the amplitude is large, which is easily detected as noise by the angle sensor; at high speeds, the huge inertial force may cause dynamic torsion of the main beam, exceeding its linear measurement range. Only at a moderate speed does the structural response and sensor performance reach the optimal matching point.

[0026] Overall, the intersection of the system error curves corresponding to the offset position detection module and the offset angle detection module is significant. When the operating speed of the trolley traveling mechanism is lower than the speed corresponding to the intersection point, the angle detector has a smaller error and higher stability. Below this speed, the system prioritizes the offset angle detection module to improve its accuracy and reliability, further enhancing the accuracy and reliability of the offset control system. When the operating speed of the trolley traveling mechanism is higher than the speed corresponding to the intersection point, the position detector has a smaller error and higher stability, and the system should prioritize the offset position detection mode. Above this speed, the system prioritizes the offset position detection module to improve its accuracy and reliability, further enhancing the accuracy and reliability of the offset control system.

[0027] Specifically, such as Figure 1 As shown, a novel correction control system for a large shipbuilding gantry crane also includes a gravity detection module, which is configured to detect the mass of the load lifted by the gantry crane's traveling mechanism. ; The controller module is connected to the gravity detection module. The controller module is configured to generate a selection signal for the offset detection module based on the signal fed back by the gravity detection module. The inherent systematic error in formula (1) The weight of the load lifted by the trolley traveling mechanism Relatedly, exemplarily, in this system, inherent system error With respect to the mass of the hoisted object The corresponding relational expression is: in, and All are constants greater than 0. The mass of the load lifted by the trolley traveling mechanism. The larger the inherent systematic error The smaller the value, the lower the systematic error at the same speed. The smaller the value, the better. This is because heavy loads increase running resistance, suppressing wheel slippage and vehicle body sway, resulting in smoother operation and thus improving the signal-to-noise ratio of position detection. Under light loads or no loads, the error is larger in the low-speed range, so angle detection mode should be prioritized; however, increasing speed significantly improves accuracy, meaning that in the medium-to-high speed range, the choice should be made after comparing the error with that of the angle detector. Under heavy loads, the overall system error is smaller across all speed ranges, resulting in smoother operation. The system can then more readily adopt position detection mode or trust the position detector over a wider speed range.

[0028] Specifically, the minimum systematic error in formula (2) The weight of the load lifted by the trolley traveling mechanism Relatedly, exemplarily, in this system, inherent system error With respect to the mass of the hoisted object The corresponding relational expression is: in, Both and d are constants greater than 0. The mass of the load lifted by the trolley traveling mechanism. The larger the value, the smaller the system error. The larger the value, the greater the systematic error at the same speed. The larger the load, the greater the deflection of the main beam, resulting in a fixed static deviation for the angle sensor. This deviation is a normal deformation of the structure under gravity and cannot be eliminated by correction control, thus increasing the overall system error. Under light or no load, the overall error of the angle detection system is low. In the medium to high speed range, angle detection may still be superior to position detection, and the system can prioritize the use of angle detection mode. Under heavy load, the angle detector only shows advantages in the low-speed range. Once the speed exceeds the optimal operating speed... If the error increases rapidly, the system should switch to position detection mode at a lower speed.

[0029] When constructing an adaptive deviation correction system, load information is a key parameter for predicting the performance of the position detector. The system should be able to determine whether the position detector is in a high-precision "advantage range" under the current load. By combining this with the synchronous prediction of the angle detector's performance, the system can make globally optimal detection mode decisions, thereby achieving intelligent and precise deviation correction control under all operating conditions.

[0030] An intelligent and precise adaptive correction control system must be a multi-input system, monitoring not only operating speed but also real-time information on lifting quality and other factors. The system should internally store or calculate error model parameters for different load levels, such as... , It dynamically updates the error comparison relationship between the position detector and the angle detector, thereby intelligently selecting the detection mode with the smallest error across the entire operating range to achieve optimal control.

[0031] Specifically, the controller module generates the execution signal for the trolley running mechanism in the following steps: The offset displacement S of the trolley's flexible leg is received from the offset position detection module; or the offset angle of the trolley's flexible leg is received from the offset angle detection module. Calculate the offset displacement ,in The base distance of a large shipbuilding gantry crane is the distance between the centers of the wheel sets under the outriggers on both sides. The control mechanism of the trolley travels in the opposite direction along the original travel path to correct its deviation. The amount of deviation movement is the offset displacement S.

[0032] Example 2 This invention also provides a novel correction control system for large shipbuilding gantry cranes, the control method of which includes the following steps: Step S100: Real-time acquisition of the operating speed of the trolley traveling mechanism The weight of the load lifted by the trolley traveling mechanism ; Step S200: Based on the running speed of the trolley traveling mechanism and the mass of the object hoisted by the trolley traveling mechanism The system errors introduced by the offset position detector and the offset angle detector are calculated respectively. and systematic error ; Step S300: Determine the system error With the system error Based on the size relationship, select the appropriate offset detector to obtain the offset displacement S of the flexible leg of the trolley; Step S400: Based on the offset displacement S of the trolley's flexible leg, control the trolley's traveling mechanism to move in the reverse direction along the original traveling path to correct its deviation. The value of the reverse correction movement is the same as the offset displacement S.

[0033] Specifically, step S300 further includes: Step S310: When At that time, select the offset angle detector to obtain the offset angle of the flexible leg of the trolley. ; Step S311: Calculate the offset displacement of the flexible legs of the trolley. ,in The base distance for large shipbuilding gantry cranes; Step S320: When At that time, select the offset position detector to obtain the flexible offset displacement S of the trolley.

[0034] Specifically, the control system in this application monitors the operating speed of the trolley traveling mechanism in real time. The weight of the load lifted by the trolley traveling mechanism The control parameters of the system error function introduced by the offset position and offset angle modules are optimized by comparing the system errors. and systematic error The system selects the offset angle or offset position detection mode that results in smaller errors, acquires and calculates the offset displacement S of the gantry crane's flexible leg, and then controls the gantry crane's traveling mechanism to perform reverse correction movement. The control system in this application, through online optimization of control parameters and dynamic intelligent switching of detection modes, possesses full-condition adaptive capability, enabling high-precision and reliable correction of the shipbuilding gantry crane's gantry crane position, ensuring efficient and safe equipment operation, and extending its service life.

[0035] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0036] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0037] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0038] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A novel correction control system for a large shipbuilding gantry crane, comprising a speed detection module, a deviation detection module, a controller module, and a gantry crane traveling mechanism, wherein the controller module is communicatively connected to the speed detection module, the deviation detection module, and the gantry crane traveling mechanism; characterized in that: The speed detection module is configured to detect the operating speed of the trolley traveling mechanism. ; The controller module is configured to generate a selection signal for the offset detection module based on the signal fed back by the speed detection module. The offset detection module, including an offset position detection module and an offset angle detection module, is configured to select either the offset position detection module or the offset angle detection module based on signals fed back from the controller module; the offset position detection module is configured to detect the offset displacement of the trolley's flexible leg. The offset angle detection module is configured to detect the offset angle of the flexible leg of the trolley. ; The controller module is also configured to generate execution signals for the trolley traveling mechanism based on the signals fed back by the offset detection module. The trolley traveling mechanism is configured to perform corrective movement based on signals fed back from the controller module.

2. The novel correction control system for a large shipbuilding gantry crane according to claim 1, characterized in that, The specific steps by which the controller module generates the selection signal for the offset detection module are as follows: Receive the operating speed of the trolley traveling mechanism The control system error caused by the offset position detection module at this speed is calculated using formulas (1) and (2) respectively. Control system error caused by offset angle detection module Determine the system error With the system error Based on the size relationship, select the appropriate offset detection module; Official (1); Official (2); in and The offset position detection module and the offset angle detection module are respectively located at a speed of System error at that time The scale parameter is a constant greater than 0. The attenuation parameter is a constant greater than 0. This is an inherent systematic error. The curvature parameter is a constant greater than 0. This represents the optimal operating speed when the error of the offset angle detection module is minimized. This represents the minimum systematic error.

3. The novel correction control system for a large shipbuilding gantry crane according to claim 2, characterized in that: The system error of the offset position detection module in formula (1) With the operating speed of the trolley traveling mechanism The increase leads to a decrease.

4. A novel correction control system for a large shipbuilding gantry crane according to claim 2 or 3, characterized in that: The control system also includes a gravity detection module, which is configured to detect the mass of the load lifted by the trolley traveling mechanism. ; The controller module is communicatively connected to the gravity detection module, and the controller module is configured to generate a selection signal for the offset detection module based on the signal fed back by the gravity detection module. The inherent systematic error in formula (1) The weight of the load lifted by the trolley traveling mechanism Related to the weight of the load lifted by the trolley traveling mechanism. The larger the inherent systematic error The smaller the value, the lower the systematic error at the same speed. The smaller.

5. A novel correction control system for a large shipbuilding gantry crane according to claim 2, characterized in that: The system error of the offset angle detection module in formula (2) With the operating speed of the trolley traveling mechanism The increase first decreased and then rose.

6. A novel correction control system for a large shipbuilding gantry crane according to claim 2 or 5, characterized in that: The control system also includes a gravity detection module, which is configured to detect the mass of the load lifted by the trolley traveling mechanism. ; The controller module is communicatively connected to the gravity detection module, and the controller module is configured to generate a selection signal for the offset detection module based on the signal fed back by the gravity detection module. The minimum systematic error in formula (2) The weight of the load lifted by the trolley traveling mechanism Related to the weight of the load lifted by the trolley traveling mechanism. The larger the value, the smaller the system error. The larger the value, the greater the systematic error at the same speed. The larger.

7. A novel correction control system for a large shipbuilding gantry crane according to any one of claims 2-6, characterized in that, Determine the system error of the offset position detection module System error with offset angle detection module Based on the size relationship, select the appropriate offset detection module, which further includes: when When selecting the offset angle detection module; when When selecting the offset position detection module, choose the module.

8. A novel correction control system for a large shipbuilding gantry crane according to claim 1, characterized in that: The specific steps by which the controller module generates the execution signal for the trolley running mechanism are as follows: The offset displacement S of the trolley's flexible leg is received from the offset position detection module; or the offset angle of the trolley's flexible leg is received from the offset angle detection module. Calculate the offset displacement ,in The base distance for large shipbuilding gantry cranes; The control mechanism of the trolley travels in the opposite direction along the original travel path to correct its deviation. The amount of deviation movement is the offset displacement S.

9. A novel correction control system for a large shipbuilding gantry crane according to any one of claims 1-8, characterized in that, The control method of the control system includes the following steps: Step S100: Real-time acquisition of the operating speed of the trolley traveling mechanism The weight of the load lifted by the trolley traveling mechanism ; Step S200: Based on the running speed of the trolley traveling mechanism and the mass of the object hoisted by the trolley traveling mechanism The system errors introduced by the offset position detector and the offset angle detector are calculated respectively. and systematic error ; Step S300: Determine the system error With the system error Based on the size relationship, select the appropriate offset detector to obtain the offset displacement S of the flexible leg of the trolley; Step S400: Based on the offset displacement S of the trolley's flexible leg, control the trolley's traveling mechanism to move in the reverse direction along the original traveling path to correct its deviation. The value of the reverse correction movement is the same as the offset displacement S.

10. A novel correction control system for a large shipbuilding gantry crane according to claim 9, characterized in that, Step S300 further includes: Step S310: When At that time, select the offset angle detector to obtain the offset angle of the flexible leg of the trolley. ; Step S311: Calculate the offset displacement of the flexible legs of the trolley. ,in The base distance for large shipbuilding gantry cranes; Step S320: When At that time, select the offset position detector to obtain the flexible offset displacement S of the trolley.

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