Hook anti-swing control method and system

Abstract

This invention provides a hook anti-sway control method and system, comprising: acquiring a control analog signal from a crane motor and the hook height and hook swing amplitude; acquiring a first analog signal using an open-loop anti-sway algorithm; acquiring a second analog signal using a closed-loop anti-sway algorithm; acquiring a target analog signal based on the control analog signal, hook height, hook swing amplitude, first analog signal, and second analog signal; acquiring a pulse signal using a pulse width modulation algorithm based on the target analog signal and hook height; and outputting the pulse signal to a relay of the crane motor. This invention, by combining open-loop and closed-loop anti-sway algorithms, can adapt to various working conditions. Furthermore, by modulating the target analog signal into a pulse signal with variable period and time-varying width using the pulse width modulation algorithm, a good hook anti-sway control effect can be achieved simply by controlling the start and stop of the crane motor. Directly controlling the start and stop of the crane motor via a relay results in lower costs.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery technology, and in particular relates to a method and system for anti-sway control of lifting hooks. Background Technology

[0002] The crane hook and the crane motor (electric hoist) are often connected by a flexible steel wire rope. During operation, the hook and the load on it will swing, affecting the crane's working efficiency and safety. Traditionally, manual operation uses a "hand-held" method to eliminate hook sway. However, with the increasing automation of factories, the need for automatic anti-sway control of the hook is becoming more and more urgent.

[0003] Currently, crane hook anti-sway control technology is mainly divided into two categories: open-loop control and closed-loop control. Open-loop control can only reduce swaying caused by its own motion and is powerless against swaying caused by external disturbances. Closed-loop control is often less fast than open-loop control. Moreover, existing closed-loop control methods usually use frequency converters to drive the motor, achieving anti-sway through precise control of the crane motor speed. This requires measuring information such as crane motor speed, hook swing angle, and rope length, and its ability to cope with a wide range of rope length variations is relatively weak.

[0004] Older overhead cranes (bridge cranes) lack anti-sway functionality or only have simple open-loop anti-sway control, resulting in poor anti-sway performance. Anti-sway performance, achieved by driving the motor with a frequency converter, typically relies on precise control of the motor speed. This requires numerous sensors and complex debugging. However, older overhead crane (bridge crane) systems usually lack frequency converters, encoders, and crane motor speed sensors, making retrofitting costly and difficult, and thus unsuitable for the retrofitting needs of older cranes. Summary of the Invention

[0005] The main objective of this invention is to propose a hook anti-sway control method, which aims to solve the technical problems of poor anti-sway performance and high modification costs of existing cranes.

[0006] To achieve the above objectives, the present invention provides a hook anti-sway control method for a crane motor that lifts a hook, the hook anti-sway control method comprising: Acquire the control analog signals of the crane motor and the hook height and hook swing amplitude; An open-loop anti-sway algorithm is adopted to obtain the first analog signal based on the control analog signal and the hook height; A closed-loop anti-sway algorithm is adopted to obtain a second analog signal based on the hook height and hook swing amplitude; The target simulation signal is obtained based on the control simulation signal, the hook height, the hook swing amplitude, the first simulation signal, and the second simulation signal; A pulse width modulation algorithm is used to obtain a pulse signal based on the target analog signal and the hook height; A pulse signal is output to the relay of the crane motor.

[0007] In this embodiment of the invention, obtaining the target simulation signal based on the control simulation signal, the hook height, the hook swing amplitude, the first simulation signal, and the second simulation signal includes: The switching delay is determined based on the hook height; Based on the control simulation signal and the hook swing amplitude, the first simulation signal, the second simulation signal, and the weighted simulation signal are used as the target simulation signal; The weighted analog signal is determined as the target analog signal, and the weighted analog signal is calculated based on the hook swing amplitude. The target analog signal is switched according to the switching delay.

[0008] In this embodiment of the invention, determining the switching delay based on the hook height includes: Calculate the switching delay based on the hook height:

[0009]

[0010] Let be the equivalent pendulum half-period of the hook; The height of the hook; This refers to the local gravitational acceleration. The switching delay; This is the preset control cycle.

[0011] In this embodiment of the invention, the first analog signal, the second analog signal, and the weighted analog signal are used as the target analog signal based on the control analog signal and the hook swing amplitude:

[0012]

[0013]

[0014] To switch timing variables with a delay; For time k value; for The preset upper limit; For switching delay; The control analog signal; To preset the hook swing amplitude threshold; The target analog signal; The first analog signal; This is the second analog signal; The first weighting coefficient; This is the second weighting coefficient; Let be the equivalent pendulum half-period of the hook; for The average swing amplitude of the hook swing amplitude within the time period; The height of the hook; This is the local gravitational acceleration.

[0015] In this embodiment of the invention, the weighted analog signal is determined as the target analog signal, and the weighted analog signal is calculated based on the hook swing amplitude: The first weighting coefficient of the first analog signal and the second weighting coefficient of the second analog signal are obtained according to the hook swing amplitude. The target analog signal is obtained based on the first weighting coefficient, the second weighting coefficient, the first analog signal, and the second analog signal.

[0016] In this embodiment of the invention, obtaining the first weighting coefficient of the first analog signal and the second weighting coefficient of the second analog signal based on the hook swing amplitude includes:

[0017]

[0018]

[0019] The first weighting coefficient; This is the second weighting coefficient; To preset the hook swing amplitude threshold; for The average swing amplitude of the hook swing amplitude within the time period; Let be the equivalent pendulum half-period of the hook; The height of the hook; This is the local gravitational acceleration.

[0020] In this embodiment of the invention, obtaining the pulse signal based on the target analog signal and the hook height using a pulse width modulation algorithm includes: Calculate the equivalent pendulum half-period of the hook based on the hook height; Calculate the normalized value of the target analog signal based on the target analog signal and the preset upper limit of the target analog signal; The pulse width of the pulse signal is determined by using a pulse width timing variable based on the normalized value of the target analog signal. The pulse period of the pulse signal is determined by the period of the pulse width timing variable.

[0021] In this embodiment of the invention, the pulse signal is calculated according to the following formula:

[0022]

[0023]

[0024]

[0025] The target analog signal; p is the pulse signal; The normalized value of the target analog signal; For pulse width timing variables; Indicates the first A preset control cycle value; Preset control cycle; The preset upper limit for the target analog signal; Let be the equivalent pendulum half-period of the hook; This refers to the height of the hook. This is the local gravitational acceleration.

[0026] In this embodiment of the invention, the open-loop anti-sway algorithm is an input shaping algorithm; and / or, the closed-loop anti-sway algorithm is a PD control algorithm based on gain scheduling.

[0027] The present invention also proposes a hook anti-sway control system, the hook anti-sway control system comprising: A signal receiver, used to receive control analog signals sent by the operator; A data acquisition device is used to collect the hook height and hook swing amplitude of the hook; The controller, the signal receiver and the data acquisition unit are all electrically connected to the controller, and the controller is used to execute the hook anti-sway control method as described above.

[0028] Through the above technical solution, the hook anti-sway control method provided by the embodiments of the present invention has the following beneficial effects: The hook anti-sway method employs a method that, upon receiving the control simulation signal from the crane motor, acquires the hook height and hook swing amplitude. It then uses open-loop and closed-loop anti-sway algorithms to obtain a first and a second analog signal, respectively. Based on the control simulation signal, hook height, hook swing amplitude, the first analog signal, and the second analog signal, a target analog signal is obtained. The open-loop and closed-loop anti-sway algorithms are combined to perform hook anti-sway control. A pulse width modulation algorithm outputs a pulse signal with variable period and time-varying width based on the target analog signal and hook height. This pulse signal can drive a relay, directly controlling the start and stop of the crane motor to achieve the anti-sway control effect. The pulse period can be autonomously adjusted according to the hook height, adapting to the control requirements of variable rope length hook systems. This invention combines open-loop and closed-loop anti-sway algorithms, along with control analog signals, hook height, and hook swing amplitude to determine the target analog signal. This approach adapts to various working conditions. Furthermore, by using a pulse width modulation algorithm, the target analog signal is modulated into a pulse signal with variable period and time-varying width. A good hook anti-sway control effect can be achieved simply by controlling the start and stop of the crane motor. The crane motor is directly controlled by a relay, eliminating the need for frequency converters, encoders, and speed sensors found in existing technologies. This reduces costs. Moreover, by adjusting the pulse period according to the hook height, the hook anti-sway control method can adapt to the control requirements of variable rope length hook systems.

[0029] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0030] The accompanying drawings are provided to illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a principle block diagram of a hook anti-sway control method according to an embodiment of the present invention; Figure 2 This is a principle block diagram of an open-loop anti-shake algorithm according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the open-loop switching process according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a pulse width modulation process according to an embodiment of the present invention; Figure 5 Control effect curve when the hook has an initial swing amplitude; Figure 6 This is a flowchart illustrating a hook anti-sway control method according to an embodiment of the present invention. Detailed Implementation

[0031] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0032] The anti-sway control method for the hook according to the present invention is described below with reference to the accompanying drawings.

[0033] like Figures 1 to 6 As shown, in an embodiment of the present invention, a hook anti-sway control method is used for a crane motor that lifts the hook. The hook anti-sway control method includes: Step S1: Obtain the control analog signal of the crane motor and the hook height and hook swing amplitude; Step S2: An open-loop anti-sway algorithm is used to obtain the first analog signal based on the control analog signal and the hook height; Step S3: Using a closed-loop anti-sway algorithm, a second analog signal is obtained based on the hook height and hook swing amplitude; Step S4: Obtain the target simulation signal based on the control simulation signal, hook height, hook swing amplitude, first simulation signal, and second simulation signal; Step S5: Use a pulse width modulation algorithm to obtain a pulse signal with variable period and time-varying width based on the target analog signal; Step S6: Output a pulse signal to the relay of the crane motor.

[0034] It should be noted that the hook anti-sway method in this embodiment is mainly used for anti-swaying of the hook on the crane motor. The crane motor is used to drive the crane's trolley or hoist. The hook height is the length of the hook's wire rope. The crane motor is equipped with a motor and a relay. The operator can input control commands to the crane through a remote control. The control commands contain control analog signals. The hook height and hook swing amplitude can be detected by visual sensing.

[0035] When using the hook anti-sway method in this embodiment, the hook height and hook swing amplitude can be obtained upon receiving the control simulation signal from the crane motor. First and second simulation signals are obtained through open-loop and closed-loop anti-sway algorithms, respectively. A target simulation signal is obtained based on the control simulation signal, hook height, hook swing amplitude, first simulation signal, and second simulation signal. The open-loop and closed-loop anti-sway algorithms are combined to perform hook anti-sway control. The pulse width modulation algorithm can output a pulse signal with variable period and time-varying width based on the target simulation signal and hook height. This pulse signal can drive a relay, directly controlling the start and stop of the crane motor to achieve the anti-sway control effect. The pulse period can be autonomously adjusted according to the hook height, adapting to the control requirements of variable rope length hook systems.

[0036] This embodiment combines open-loop and closed-loop anti-sway algorithms, and determines the target analog signal by combining control analog signals, hook height, and hook swing amplitude. This approach can adapt to various working conditions. Furthermore, by using a pulse width modulation algorithm, the target analog signal is modulated into a pulse signal with variable period and time-varying width. A good hook anti-sway control effect can be achieved simply by controlling the start and stop of the crane motor. The start and stop of the crane motor are directly controlled by a relay, eliminating the need for frequency converters, encoders, and speed sensors found in existing technologies. This reduces costs. Moreover, by adjusting the pulse period according to the hook height, the hook anti-sway control method can adapt to the control requirements of variable rope length hook systems.

[0037] Understandably, replacing the frequency converter with a digital pulse width modulation (PWM) algorithm eliminates the need for frequency converters, encoders, and speed sensors, enabling anti-sway control of the crane hook. This approach is low-cost, fast-responding, and suitable for the anti-sway retrofit and upgrade of older overhead cranes (bridge cranes). The pulse signal drives a relay to directly control the start and stop of the crane trolley (or main trolley) motor, achieving the anti-sway control effect (see [link]). Figure 5 The algorithm can autonomously adjust the pulse period according to the hook height, and can adapt to the control requirements of variable rope length hook systems.

[0038] Specifically, obtaining the target analog signal based on the control analog signal, hook height, hook swing amplitude, first analog signal, and second analog signal includes: The switching delay is determined based on the hook height; Based on the control analog signal and the hook swing amplitude, the first analog signal, the second analog signal, and the weighted analog signal are used as the target analog signal; The weighted analog signal is determined as the target analog signal, and the weighted analog signal is calculated based on the hook swing amplitude. The target analog signal is switched based on the switching delay.

[0039] In this embodiment, the open-loop anti-sway algorithm primarily adapts to the hook height parameters based on the control analog signal, enabling rapid response to the control analog signal. When the hook swing amplitude is small, the open-loop control quantity can be increased (and the closed-loop control quantity reduced), improving the response speed to the control analog signal. The closed-loop anti-sway algorithm uses the hook height and hook swing amplitude as feedback parameters to ensure anti-sway performance. When the hook swing amplitude is large, the open-loop control quantity can be reduced (and the closed-loop control quantity increased), further enhancing anti-sway performance. The open-loop / closed-loop switching in this embodiment allows for autonomous switching between open-loop and closed-loop anti-sway control. By comprehensively employing both open-loop and closed-loop anti-sway algorithms for hook anti-sway control, the open-loop / closed-loop switching algorithm achieves autonomous and smooth switching between the two. Furthermore, a switching delay and weighted calculation are introduced in the open-loop / closed-loop switching process. The switching delay is calculated based on the hook height, and the weighted calculation is determined based on the hook swing amplitude, adapting to various working conditions.

[0040] It should be noted that the switching delay determined based on the hook height includes: Calculate the switching delay based on the hook height:

[0041]

[0042] The equivalent pendulum half-period of the hook; This refers to the height of the hook. This refers to the local gravitational acceleration. For switching delay; The preset control cycle can be the time interval for the controller to cycle through the hook anti-sway control method.

[0043] In this embodiment, the switching delay is specifically calculated using the above formula. The switching delay of the target analog signal can be accurately calculated based on the hook height, which can ensure anti-sway performance while rapidly influencing control commands.

[0044] like Figure 3 As shown, based on the control analog signal and the hook swing amplitude, the first analog signal, the second analog signal, and the weighted analog signal are used as the target analog signal:

[0045]

[0046]

[0047] To delay switching of timing variables, For time k value, The initial value is 0, and it is incremented by 1 in each cycle when the condition is met, until the condition is reached. No further accumulation will be performed after that. Later Reset to 0; for The preset upper limit; For switching delay; To control analog signals; To preset the hook swing amplitude threshold; The target is a simulated signal; This is the first analog signal; This is the second analog signal; The first weighting coefficient; This is the second weighting coefficient; The equivalent pendulum half-period of the hook; for The average swing amplitude of the hook within a time period; This refers to the height of the hook. This is the local gravitational acceleration.

[0048] This embodiment combines the advantages of open-loop and closed-loop control while achieving smooth switching. It avoids the drawback of open-loop control being unable to reduce hook sway caused by external disturbances; it also avoids the drawback of closed-loop control being unable to respond to control commands or responding slowly to control commands. When a control command ( When there is no control command, open-loop control algorithm is mainly used, which can improve the response speed of the control system; when there is no control command ( When switching between open-loop and open-loop control, a closed-loop control algorithm is primarily used to quickly reduce hook sway caused by external disturbances. The open-loop control algorithm can be an input shaping algorithm, which includes delay control; therefore, a switching delay timing variable is introduced during switching. Perform a delayed switch. It can be equivalent to the control delay in an open-loop control algorithm, which can improve control accuracy.

[0049] In one embodiment, If it is necessary to determine the target analog signal, the control analog signal can be acquired first. The average swing amplitude of the hook within the time period, the first analog signal, and the second analog signal can be used to first determine whether the absolute value of the control analog signal is 0. If the absolute value of the control analog signal is not 0, then... Then it can be determined Is it less than When the absolute value of the control analog signal is 0, Then it can be determined Is it less than ,exist Less than In the case of, judge Is it less than ;exist Not less than It can be determined and judge Is it less than ; It is less than In this case, it can be determined Is it less than , Less than Then the first analog signal is determined to be the target analog signal. Not less than Then the weighted analog signal is determined to be the target analog signal. Not less than In this case, the second analog signal can be determined to be the target analog signal.

[0050] In one embodiment, a weighted analog signal is determined as the target analog signal, and the weighted analog signal is calculated based on the hook swing amplitude: The first weighting coefficient of the first analog signal and the second weighting coefficient of the second analog signal are obtained based on the hook swing amplitude. The target analog signal is obtained based on the first weighting coefficient, the second weighting coefficient, the first analog signal, and the second analog signal.

[0051] In this embodiment, the hook height and hook swing amplitude are the current parameters of the hook. The first weighting coefficient of the first analog signal and the second weighting coefficient of the second analog signal are both determined by the hook swing amplitude, so that the hook anti-sway control method in this embodiment can adjust the weighting of the open loop and the closed loop in a timely manner according to the current hook swing amplitude, resulting in better anti-sway performance.

[0052] Specifically, obtaining the first weighting coefficient of the first analog signal and the second weighting coefficient of the second analog signal based on the hook swing amplitude includes:

[0053]

[0054]

[0055] The first weighting coefficient; This is the second weighting coefficient; To preset the hook swing amplitude threshold; for The average swing amplitude of the hook within a time period; The equivalent pendulum half-period of the hook; This refers to the height of the hook. This is the local gravitational acceleration.

[0056] In this embodiment, the first weighting coefficient and the second weighting coefficient are calculated using the above formula. The calculation is simple and can also achieve precise adjustment of the weights of the first analog signal and the second analog signal.

[0057] It should be noted that the pulse signal acquisition using the pulse width modulation algorithm based on the target analog signal and the hook height includes: Calculate the equivalent pendulum half-period of the hook based on its height; Calculate the normalized value of the target analog signal based on the target analog signal and its preset upper limit; The pulse width of the pulse signal is determined by the pulse width timing variable based on the normalized value of the target analog signal. The pulse period of the pulse signal is determined by the period of the pulse width timing variable.

[0058] In this embodiment, the pulse width of the pulse signal is calculated by the target analog signal, and the pulse period of the pulse signal is calculated by the hook height. The duty cycle of the pulse signal can be adjusted by the pulse period and pulse width, which can adapt to the variable rope length and achieve a fast anti-sway response when the hook swing is large.

[0059] like Figure 4 As shown, in one embodiment, the pulse width and pulse period are calculated according to the following formulas:

[0060]

[0061]

[0062]

[0063] The target is a simulated signal; p is a pulse signal; The normalized value of the target analog signal; For pulse width timing variables; Indicates the first A preset control cycle value; Preset control cycle; The preset upper limit for the target analog signal; The equivalent pendulum half-period of the hook; This refers to the height of the hook. This is the local gravitational acceleration.

[0064] P is the pulse signal output by the algorithm. It is a pulse signal that can represent the rotation direction of the crane motor. 0, 1, and -1 represent stopping, forward rotation, and reverse rotation, respectively. This is the normalized target analog signal, the value obtained after normalization processing. The absolute value of P is the pulse width timing variable. It is an undirected pulse signal. The period (the duration of a set of 0 and 1 outputs) is the pulse period. The duration of a 1 is the pulse width. The pulse period and pulse width are based on Determined jointly with S.

[0065] The cycle determines The pulse cycle, when the hook height When unchanged, For a constant period accumulation signal, the pulse width varies. The increase in [something] allows for the conversion of the target analog signal into a pulse signal, which occurs when the hook height changes. The period increases with the increase of the hook height, so that the pulse period matches the equivalent pendulum half-period of the hook.

[0066] In this embodiment, adaptive pulse width modulation can be achieved through the above calculation formula. A pulse curve of appropriate width is output based on the target analog signal, and the magnitude of the control quantity is determined by the duration of the pulse. A good anti-sway control effect for the hook can be achieved simply by controlling the start and stop of the crane motor. While adjusting the pulse width, the pulse period is also adjusted according to the hook height, which can adapt to the control requirements of variable rope length hook systems.

[0067] like Figure 4 As shown, in one embodiment, calculating the pulse width of the pulse signal based on the target analog signal and calculating the pulse period of the pulse signal based on the hook height may include: acquiring the hook height and the target analog signal, and starting an accumulation calculation when the target analog signal is not equal to 0. Calculate the upper limit of accumulation. and judge Is it less than , Less than In the case of calculation , Not less than In the case of determining and calculate ;judge Is it less than ,Sure Not less than , ,Sure Less than ,judge Is it greater than - , Greater than - In this case, , Not greater than - In this case, .

[0068] like Figure 2 As shown, in one embodiment, the open-loop anti-shake algorithm is an input shaping algorithm, which can calculate the first analog signal using the following formula:

[0069]

[0070]

[0071] in, The damping ratio of the hook; This refers to the height of the hook. This refers to the local gravitational acceleration. Let A1 and A2 be the equivalent pendulum half-period of the hook. A1 and A2 are gain coefficients, both calculated based on C, where C is an intermediate quantity in the calculation, and e is the natural constant, which can be approximately equal to 2.7.

[0072] set up The control analog signal at time is Then, the open-loop anti-shake algorithm is used to output... The calculation formula is as follows:

[0073] in, for Divide by the preset control cycle The integer obtained is then rounded down. In this embodiment, the open-loop anti-sway algorithm is combined with hook height for parameter adaptation, which greatly improves the anti-sway effect of the open-loop anti-sway algorithm. Furthermore, the closed-loop anti-sway algorithm is a PD control algorithm based on gain scheduling. In this embodiment, the closed-loop anti-sway algorithm uses PD control to achieve hook anti-sway, when the hook height (rope length)... When changes occur, gain scheduling techniques are employed based on The algorithm outputs the online interpolation of PD control parameters. The recursive calculation formula is as follows:

[0074] in, For the swing amplitude of the hook, For the first Preset control cycle value; and These are the proportional gain and the derivative gain, which can be determined based on the measured hook height. The gain is calculated in real time. The specific gain scheduling is as follows: Based on the maximum variable range of hook height, the PD controller parameters for 2-5 typical height conditions are pre-designed and debugged. The PD controller parameters for other height conditions are calculated in real-time using linear interpolation. Let the height be... At this location, the pre-designed proportional gain is At high altitude At this location, the pre-designed proportional gain is Then when Between and In between, The calculation method is as follows:

[0075] At height At this location, the pre-designed proportional gain is (Can be preset), at height At this location, the pre-set proportional gain is... Then when Between and In between, The calculation method is as follows:

[0076] The closed-loop anti-sway algorithm in this implementation adopts a gain-scheduled PD control algorithm, selecting the hook height as the input variable for gain scheduling. PD controller parameters for 2-5 typical height conditions are pre-designed, and the PD control parameters for other height conditions are calculated in real time through linear interpolation. This allows the algorithm to adapt to a wide range of changes in hook rope length, making the hook anti-sway control method applicable to a wider range of scenarios.

[0077] The present invention also proposes a hook anti-sway control system, which includes: A signal receiver, used to receive control analog signals sent by the operator; The data acquisition unit is used to collect the hook height and hook swing amplitude of the crane. The controller, signal receiver, and data acquisition unit are all electrically connected to the controller. The controller is used to execute the above-described hook anti-sway control method. Since the hook anti-sway control system adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0078] In this embodiment, the data acquisition device can be a vision sensor or an encoder. The hook height is the length of the wire rope, which can be the length of the wire rope between the hook and the crane motor. The hook height can be detected by a vision sensor or an encoder installed in the wire rope take-up and release system. Hook anti-swaying can be achieved without the frequency converter and speed sensor used in existing technologies. The structure is simple and the cost is low. The hook anti-swaying control system in this embodiment is mainly used for cranes. The crane motor in this embodiment can be an electric hoist. Compared with manual methods to eliminate swaying, it can achieve automation and facilitate the retrofitting and upgrading of existing bridge cranes.

[0079] In the description of this invention, it should be understood that 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 at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0080] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0081] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0082] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method of a swing prevention of a hook for a motor of a crane which hoists a hook, characterized by, The hook anti-sway control method includes: Acquire the control analog signals of the crane motor and the hook height and hook swing amplitude; An open-loop anti-sway algorithm is adopted to obtain the first analog signal based on the control analog signal and the hook height; A closed-loop anti-sway algorithm is adopted to obtain a second analog signal based on the hook height and hook swing amplitude; The target simulation signal is obtained based on the control simulation signal, the hook height, the hook swing amplitude, the first simulation signal, and the second simulation signal; A pulse width modulation algorithm is used to obtain a pulse signal based on the target analog signal and the hook height; A pulse signal is output to the relay of the crane motor.

2. The hanger sway control method according to claim 1, characterized by, The step of obtaining the target simulation signal based on the control simulation signal, the hook height, the hook swing amplitude, the first simulation signal, and the second simulation signal includes: The switching delay is determined based on the hook height; Based on the control simulation signal and the hook swing amplitude, the first simulation signal, the second simulation signal, and the weighted simulation signal are used as the target simulation signal; The weighted analog signal is determined as the target analog signal, and the weighted analog signal is calculated based on the hook swing amplitude. The target analog signal is switched according to the switching delay.

3. The hanger sway control method according to claim 1, characterized by, The step of determining the switching delay based on the hook height includes: Calculate the switching delay based on the hook height: is the equivalent pendulum half-period of the hook; H is the height of the hook; g is the local gravitational acceleration; for the handover delay; is a preset control period.

4. The hanger sway control method according to claim 2, characterized by, The first analog signal, the second analog signal, and the weighted analog signal are used as the target analog signal based on the control analog signal and the hook swing amplitude. a timing variable for the time delay switching; the value for time instant k; and the value for time instant k; and To a preset upper limit; is the handover delay; for said control analog signal; to preset a hook swing threshold; for the target analog signal; for the first analog signal; for the second analog signal; is a first weighting coefficient; This is the second weighting coefficient; Let be the equivalent pendulum half-period of the hook; for The average swing amplitude of the hook swing amplitude within the time period; The height of the hook; This is the local gravitational acceleration.

5. The hook anti-sway control method according to claim 2, characterized in that, The weighted analog signal is determined as the target analog signal, and the weighted analog signal is calculated based on the hook swing amplitude: The first weighting coefficient of the first analog signal and the second weighting coefficient of the second analog signal are obtained according to the hook swing amplitude. The target analog signal is obtained based on the first weighting coefficient, the second weighting coefficient, the first analog signal, and the second analog signal.

6. The hook anti-sway control method according to claim 5, characterized in that, The step of obtaining the first weighting coefficient of the first analog signal and the second weighting coefficient of the second analog signal based on the hook swing amplitude includes: The first weighting coefficient; This is the second weighting coefficient; To preset the hook swing amplitude threshold; for The average swing amplitude of the hook swing amplitude within the time period; Let be the equivalent pendulum half-period of the hook; The height of the hook; This is the local gravitational acceleration.

7. The hook anti-sway control method according to any one of claims 1 to 6, characterized in that, The step of using a pulse width modulation algorithm to obtain a pulse signal based on the target analog signal and the hook height includes: Calculate the equivalent pendulum half-period of the hook based on the hook height; Calculate the normalized value of the target analog signal based on the target analog signal and the preset upper limit of the target analog signal; The pulse width of the pulse signal is determined by using a pulse width timing variable based on the normalized value of the target analog signal. The pulse period of the pulse signal is determined by the period of the pulse width timing variable.

8. The hook anti-sway control method according to claim 7, characterized in that, The pulse signal is calculated using the following formula: The target analog signal; p is the pulse signal; The normalized value of the target analog signal; For pulse width timing variables; Indicates the first A preset control cycle value; For preset control cycle; The preset upper limit for the target analog signal; Let be the equivalent pendulum half-period of the hook; This refers to the height of the hook. This is the local gravitational acceleration.

9. The hook anti-sway control method according to any one of claims 1 to 6, characterized in that, The open-loop anti-shake algorithm is an input integer algorithm; And / or, The closed-loop anti-sway algorithm is a PD control algorithm based on gain scheduling.

10. A hook anti-sway control system, characterized in that, The hook anti-sway control system includes: A signal receiver, used to receive control analog signals sent by the operator; A data acquisition device is used to collect the hook height and hook swing amplitude of the hook; The controller, wherein the signal receiver and the data acquisition unit are electrically connected to the controller, and the controller is used to execute the hook anti-sway control method according to any one of claims 1 to 9.

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