A crane high-speed slewing self-anti-interference control system

Abstract

The crane high-speed rotation self-anti-interference control system of the present application comprises a working condition parameter acquisition module, an adaptive speed constraint module, a speed latching anti-climbing module, a variable parameter acceleration and deceleration control module, a starting anti-shake optimization module, a proportional valve dead zone compensation module, a slope smoothing processing module, a PID closed-loop self-anti-interference correction module and an output limiting execution module. The present application solves the problems of crane rotation fluctuation, positioning deviation, operation abnormality and the like under complex sea conditions, effectively balances the high-speed operation efficiency and equipment operation safety, has high control precision, strong stability and wide adaptability, and can be widely applied to rotation anti-interference control scenes of various offshore transfer cranes.

Description

Technical Field

[0001] This invention relates to a high-speed slewing control system for cranes, and more particularly to a high-speed slewing self-disturbance rejection control system for cranes, belonging to the field of crane control technology. Background Technology

[0002] Offshore transshipment cranes are core equipment for marine cargo transfer and offshore engineering operations. The slewing mechanism, as the crane's core moving component, directly determines the safety and efficiency of offshore operations through its operational stability, control precision, and response efficiency. Under complex marine conditions, ships are subjected to continuous forces from wind, waves, ocean currents, and swells, resulting in irregular swaying, tilting, and displacement. This creates continuous and random external disturbances to the crane's slewing mechanism, easily causing fluctuations in slewing speed, operational vibrations, and positioning deviations. In severe cases, this can lead to accidents such as loads colliding with the crane structure, loads falling off, and equipment overload damage.

[0003] Existing traditional transshipment crane slewing control technology suffers from numerous technical shortcomings, making it difficult to adapt to the demands of complex sea conditions. Current mainstream control schemes mostly employ fixed speed threshold control modes, which can only roughly adjust the speed based on a single load parameter, failing to comprehensively optimize control by considering crane amplitude, sea disturbances, and multi-mechanism linkage conditions, resulting in significant technical limitations. Firstly, speed matching is poor; fixed speed parameters cannot adapt to the differentiated needs of efficient, small-amplitude operations under light loads and safe, large-amplitude operations under heavy loads. This leads to either wasted operational efficiency at low speeds or safety hazards at high speeds. Secondly, anti-disturbance capabilities are weak; the lack of closed-loop correction and dynamic compensation mechanisms makes it impossible to counteract speed disturbances caused by ship swaying, resulting in poor operational stability. Thirdly, multi-mechanism linkage poses safety risks; during slewing and amplitude reduction linkage operations, abnormal speed spikes can easily occur, causing abrupt and uncontrollable operations, significantly increasing operational risks. Fourthly, start-stop control precision is insufficient; fixed acceleration and deceleration parameters easily lead to equipment start-up jitter and operational shocks, and the inherent dead zone of the hydraulic proportional valve causes non-linear lag in handle operation, resulting in extremely poor control experience and operational precision.

[0004] Existing tower crane monitoring equipment can only perform conventional monitoring of speed and position, and basic speed limits. These are merely conventional threshold monitoring methods and do not involve an integrated intelligent control scheme that incorporates load-amplitude dual-parameter linear adaptive speed regulation, speed latching to prevent speed spikes, variable parameter smooth acceleration and deceleration, dead-zone linear compensation, and PID self-disturbance rejection closed-loop correction. Therefore, it cannot solve core technical problems such as dynamic disturbance suppression, efficiency and safety balance, and precise linear control of crane slewing under complex sea conditions. Thus, developing a high-speed slewing control system for transshipment cranes that adapts to complex sea conditions, features multi-parameter adaptive adjustment, active disturbance rejection, high precision, and high safety is a pressing technical challenge in this field. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a high-speed slewing self-disruption control system for cranes, which overcomes the defects of existing technologies such as poor adaptability of slewing control for transshipment cranes, weak anti-disruption capability, unreasonable speed control, start-stop jitter, nonlinear operation, easy escalation of multi-mechanism linkage, and inability to balance efficiency and safety.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A high-speed slewing crane active disturbance rejection control system, including The working condition parameter acquisition module is used to collect the load parameters of the crane rope, the crane amplitude parameters, and the handle operation signals in real time, providing raw working condition data for adaptive control; The adaptive speed constraint module, based on the dual-parameter coupling mechanism of load and amplitude, constructs a hierarchical linear speed constraint model, dynamically calculates the maximum allowable speed of the slewing mechanism according to real-time operating conditions, and realizes adaptive current limiting of speed under different loads and amplitudes; The speed latching anti-speed surge module is used to lock the maximum allowable speed at the initial moment of a single slewing operation. Under the linkage of luffing and slewing, the dynamically calculated speed and the latched speed are compared in real time to prevent abnormal speed surges during the reduction of amplitude. The variable parameter acceleration / deceleration control module establishes a linear mapping model between acceleration / deceleration time and maximum rotational speed, and dynamically matches the acceleration / deceleration duration according to the real-time operating speed to ensure the consistency of equipment acceleration under different operating conditions. The anti-shake optimization module is activated, which dynamically adjusts the acceleration and deceleration ratio coefficients at the moment of starting the slewing turn to slow down the starting acceleration. After the start is completed, the normal parameters are restored to suppress the shaking of the equipment during startup. The proportional valve dead zone compensation module eliminates the inherent dead zone error of the hydraulic proportional valve through a linear interpolation algorithm, achieving a precise linear correspondence between the handle operation stroke and the rotation speed output. The ramp smoothing module calculates the speed iteration increment based on the PLC interrupt cycle and performs graded ramp smoothing output on the given speed of the handle to avoid sudden speed shocks. The PID closed-loop active disturbance rejection module collects the actual rotation speed in real time through the encoder and combines it with the target speed deviation to complete closed-loop dynamic correction, actively suppressing external disturbances caused by sea state swaying. The output limit actuator module limits the range of the calibrated proportional valve output signal, matches the hydraulic controller's operating parameters, and ensures stable system operation.

[0008] Furthermore, the operating condition matching logic of the adaptive speed constraint module is as follows: For the 125T transshipment crane When the load under the rope is ≤19t and the amplitude is 11m≤L≤30m, the maximum slewing speed is fixed at 1.6RPM; when the amplitude is 30m<L≤51m, the slewing speed decreases linearly with the increase of amplitude, and the speed range is 1.6RPM~0.94RPM. When 19t < load weight under the rope ≤ 54t and the amplitude is 11m ≤ L ≤ 24m, the maximum slewing speed is fixed at 1.33RPM; when the amplitude is 24m < L ≤ 51m, the slewing speed decreases linearly with the increase of amplitude, and the speed range is 1.33RPM to 0.62RPM. When 54t < load under the rope ≤ 125t, and the amplitude is 11m ≤ L ≤ 26m, the maximum slewing speed is fixed at 0.2RPM; when the amplitude is 26m < L ≤ 51m, the maximum slewing speed is fixed at 0.4RPM.

[0009] Furthermore, the adaptive speed constraint module achieves continuous speed calculation for variable amplitude operating conditions through linear fitting equations. The core algorithm formula is as follows:

[0010] In the formula, x is the real-time amplitude value of the crane, and y is the maximum permissible slewing speed under the corresponding amplitude. The first amplitude value, This represents the maximum permissible rotational speed during the first amplitude. This is the second amplitude value. This is the maximum permissible rotational speed at the second amplitude.

[0011] Furthermore, the control logic of the speed latching anti-speed-up module is as follows: at the moment of starting a single slewing operation, the maximum allowable speed corresponding to the current working condition is latched in real time as the benchmark speed limit value; during subsequent slewing and luffing linkage operation, the maximum speed calculated in real time is continuously compared with the latched benchmark speed. If the real-time speed is greater than the latched speed, the latched speed is used as the final speed limit value; if the real-time speed is less than the latched speed, the real-time speed is used.

[0012] Furthermore, the core algorithm of the variable parameter acceleration / deceleration control module is that the acceleration / deceleration time is linearly positively correlated with the maximum rotational speed, and the calculation formula is as follows:

[0013] In the formula, T is the acceleration / deceleration time. K is the maximum permissible slewing speed under the current operating conditions, and k1 is an adjustable operating condition constant.

[0014] Furthermore, the parameter adjustment logic of the startup anti-shake optimization module is as follows: in the initial stage of the turn start, the acceleration / deceleration ratio coefficient k2 is dynamically amplified to slow down the speed rise gradient and eliminate the instantaneous impact of startup; when the turn speed rises to the steady state range, the standard k2 value is automatically restored.

[0015] Furthermore, the velocity iteration increment algorithm of the slope smoothing processing module is as follows: Acceleration phase unit iteration increment:

[0016] Unit iteration increment during deceleration phase:

[0017] In the formula, This is the maximum input amplitude of the handle. For PLC fixed interrupt scan cycle, These represent the acceleration and deceleration times under real-time operating conditions.

[0018] Furthermore, the linear correction algorithm formula for the proportional valve dead zone compensation module is as follows:

[0019] In the formula, SpeedRef is the speed setpoint after the handle ramping, InputMax is the maximum input range of the handle, MaxEffective is the maximum effective output value of the proportional valve, MinEffective is the minimum inherent dead zone of the proportional valve, and OutputRef is the effective output value after dead zone compensation.

[0020] Furthermore, the speed correction formula for the PID closed-loop active disturbance rejection module is as follows:

[0021] In the formula, TargetSpeed ​​is the preset target rotation speed, ActualSpeed ​​is the actual rotation speed collected by the encoder, k3 is the PID proportional control coefficient, OutputRef is the valve control output value after dead zone compensation, and SpeedAdjust is the final corrected output value.

[0022] Compared with the prior art, the present invention has the following advantages and effects: 1. Unique dual-parameter adaptive speed regulation, perfectly balancing efficiency and safety: This invention breaks through the limitations of traditional single-parameter speed limiting and fixed speed control, and constructs a load-amplitude coupled hierarchical linear speed regulation model. Under light load and small amplitude conditions, it runs at full speed to ensure operational efficiency. Under heavy load and large amplitude conditions, it limits the flow at low speed to avoid safety risks. Under heavy load and small amplitude special conditions, it limits the speed exclusively to prevent collisions, achieving the optimal balance between efficiency and safety under all operating conditions, and adapting to the differentiated operational needs of complex sea conditions.

[0023] 2. Active anti-speed surge control significantly improves operational safety: The pioneering single-operation speed latching algorithm completely solves the problem of abnormal speed surges during the slewing and luffing linkage process, eliminates the abruptness of operation and the risk of misoperation, and solves the long-standing pain point of stability in multi-mechanism linkage control in this field.

[0024] 3. Smooth control throughout the entire process, with extremely high equipment stability: Through multiple technologies such as variable parameter acceleration and deceleration, startup anti-shake optimization, and PLC iterative ramp output, problems such as crane startup shaking, running impact, and sudden speed changes are completely eliminated; coupled with proportional valve dead zone compensation technology, fully linear control of handle operation is achieved, with precise operation feel and smooth response.

[0025] 4. Closed-loop self-disturbance rejection design, adaptable to complex sea state disturbances: The encoder-based PID speed closed-loop correction mechanism can offset various complex sea state external disturbances such as ship swaying, hydraulic fluctuations, and wind disturbances in real time, greatly improving speed control accuracy, significantly reducing slewing positioning error, and the equipment's anti-interference capability is far superior to traditional open-loop control schemes.

[0026] 5. The algorithm is highly versatile and has a wide range of applications: The core control algorithm and mathematical model of this invention can be fine-tuned through parameters to adapt to different tonnages and models of offshore transshipment cranes. It is not limited to the application scenario of 125T cranes and can be quickly promoted to the slewing control retrofit of various offshore engineering machinery, which has extremely high engineering application value and industrialization prospects. Detailed Implementation

[0027] To illustrate in detail the technical solutions adopted by the present invention to achieve the intended technical objectives, the technical solutions in 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, not all embodiments. Furthermore, the technical means or technical features in the embodiments of the present invention can be replaced without creative effort. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0028] The present invention provides a high-speed rotation self-disturbance rejection control system for cranes, comprising: The working condition parameter acquisition module is used to collect the load parameters of the crane rope, the crane amplitude parameters, and the handle operation signals in real time, providing raw working condition data for adaptive control; The adaptive speed constraint module, based on the dual-parameter coupling mechanism of load and amplitude, constructs a hierarchical linear speed constraint model, dynamically calculates the maximum allowable speed of the slewing mechanism according to real-time operating conditions, and realizes adaptive current limiting of speed under different loads and amplitudes; The speed latching anti-speed surge module is used to lock the maximum allowable speed at the initial moment of a single slewing operation. Under the linkage of luffing and slewing, the dynamically calculated speed and the latched speed are compared in real time to prevent abnormal speed surges during the reduction of amplitude. The variable parameter acceleration / deceleration control module establishes a linear mapping model between acceleration / deceleration time and maximum rotational speed, and dynamically matches the acceleration / deceleration duration according to the real-time operating speed to ensure the consistency of equipment acceleration under different operating conditions. The anti-shake optimization module is activated, which dynamically adjusts the acceleration and deceleration ratio coefficients at the moment of starting the slewing turn to slow down the starting acceleration. After the start is completed, the normal parameters are restored to suppress the shaking of the equipment during startup. The proportional valve dead zone compensation module eliminates the inherent dead zone error of the hydraulic proportional valve through a linear interpolation algorithm, achieving a precise linear correspondence between the handle operation stroke and the rotation speed output. The ramp smoothing module calculates the speed iteration increment based on the PLC interrupt cycle and performs graded ramp smoothing output on the given speed of the handle to avoid sudden speed shocks. The PID closed-loop active disturbance rejection module collects the actual rotation speed in real time through the encoder and combines it with the target speed deviation to complete closed-loop dynamic correction, actively suppressing external disturbances caused by sea state swaying. The output limit actuator module limits the range of the calibrated proportional valve output signal, matches the hydraulic controller's operating parameters, and ensures stable system operation.

[0029] The operating condition matching logic of the adaptive speed constraint module is as follows: For the 125T transshipment crane When the load under the rope is ≤19t and the amplitude is 11m≤L≤30m, the maximum slewing speed is fixed at 1.6RPM; when the amplitude is 30m<L≤51m, the slewing speed decreases linearly with the increase of amplitude, and the speed range is 1.6RPM~0.94RPM. When 19t < load weight under the rope ≤ 54t and the amplitude is 11m ≤ L ≤ 24m, the maximum slewing speed is fixed at 1.33RPM; when the amplitude is 24m < L ≤ 51m, the slewing speed decreases linearly with the increase of amplitude, and the speed range is 1.33RPM to 0.62RPM. When 54t < load under the rope ≤ 125t, and the amplitude is 11m ≤ L ≤ 26m, the maximum slewing speed is fixed at 0.2RPM; when the amplitude is 26m < L ≤ 51m, the maximum slewing speed is fixed at 0.4RPM.

[0030] Among them, the high load and small amplitude working conditions adopt ultra-low speed constraints to avoid the risk of load colliding with the crane body. The overall constraint logic follows the adaptive principle of "the greater the load, the lower the speed limit; the greater the amplitude, the slower the speed".

[0031] The adaptive speed constraint module achieves continuous speed calculation under variable amplitude conditions through linear fitting equations. The core algorithm formula is as follows:

[0032] In the formula, x is the real-time amplitude value of the crane, and y is the maximum permissible slewing speed under the corresponding amplitude. The first amplitude value, This represents the maximum permissible rotational speed during the first amplitude. This is the second amplitude value. The maximum permissible turning speed at the second amplitude; x is between to between.

[0033] The control logic of the speed latching anti-speed surge module is as follows: at the moment of starting a single slewing operation, the maximum allowable speed corresponding to the current working condition is latched in real time as the benchmark speed limit value; during the subsequent slewing and luffing linkage operation, the maximum speed calculated in real time is continuously compared with the latched benchmark speed. If the real-time speed is greater than the latched speed, the latched speed is used as the final speed limit value; if the real-time speed is less than the latched speed, the real-time speed is used as the standard, thus preventing the slewing speed from suddenly increasing during the entire operation.

[0034] The core algorithm of the variable parameter acceleration / deceleration control module is that the acceleration / deceleration time is linearly positively correlated with the maximum rotational speed, and the calculation formula is as follows:

[0035] In the formula, T is the acceleration / deceleration time. K1 represents the maximum permissible slewing speed under the current operating conditions, and k1 is an adjustable operating condition constant. The higher the speed, the longer the acceleration and deceleration time, ensuring smooth operation at high speeds; the lower the speed, the shorter the acceleration and deceleration time, improving the response efficiency at low speeds and achieving consistent acceleration control across all operating conditions.

[0036] The parameter adjustment logic of the anti-shake optimization module is as follows: In the initial stage of slewing startup, the acceleration / deceleration ratio coefficient k2 is dynamically amplified to slow down the speed rise gradient and eliminate the instantaneous impact during startup; when the slewing speed rises to the steady-state range, the standard k2 value is automatically restored to balance the smoothness of equipment startup and the operating efficiency of normal operation.

[0037] The velocity iteration increment algorithm of the slope smoothing module is as follows: Acceleration phase unit iteration increment:

[0038] Unit iteration increment during deceleration phase:

[0039] In the formula, This is the maximum input amplitude of the handle. For PLC fixed interrupt scan cycle, These represent the acceleration and deceleration times under real-time operating conditions. By iteratively increasing or decreasing the speed at fixed intervals, a smooth speed ramp output is achieved.

[0040] The linear correction algorithm formula for the proportional valve dead zone compensation module is as follows:

[0041] In the formula, SpeedRef is the speed setpoint after the handle ramp is processed, InputMax is the maximum input range of the handle, MaxEffective is the maximum effective output value of the proportional valve, MinEffective is the minimum value of the inherent dead zone of the proportional valve, and OutputRef is the effective output value after dead zone compensation. This formula is used to offset the dead zone defect of the hydraulic valve and achieve a linear correspondence between the handle stroke and the speed output.

[0042] The speed correction formula for the PID closed-loop active disturbance rejection module is:

[0043] In the formula, TargetSpeed ​​is the preset target rotation speed, ActualSpeed ​​is the actual rotation speed acquired by the encoder, k3 is the PID proportional control coefficient, OutputRef is the valve control output value after dead zone compensation, and SpeedAdjust is the final corrected output value. Through real-time closed-loop speed deviation adjustment, external disturbances such as sea state fluctuations and hydraulic fluctuations are offset, achieving precise speed control.

[0044] The working process of the high-speed rotation active disturbance rejection control system for cranes according to the present invention is as follows: Step 1: System initialization, complete the initial configuration of PID parameters, acceleration / deceleration reference coefficients, dead zone parameters, and range parameters; Step 2: Collect operating parameters in real time, including key data such as the load weight under the crane rope, the working radius, the control handle operation signal, and the actual rotation speed; Step 3: The adaptive speed constraint module calculates the maximum permissible slewing speed under the current working condition based on the real-time load and amplitude parameters, using a hierarchical rule and a linear fitting algorithm. Step 4: The speed latch anti-speed surge module latches the initial speed limit value at startup, dynamically compares and suppresses abnormal speed surges throughout the process; Step 5: The variable parameter acceleration / deceleration control module dynamically matches the acceleration / deceleration duration based on the real-time maximum speed, and optimizes parameters to suppress jitter during the startup phase; Step 6: The ramp smoothing module calculates the speed iteration increment based on the PLC interrupt cycle and generates a smooth handle speed command signal; Step 7: The proportional valve dead zone compensation module performs linear correction on the ramp output signal to eliminate hydraulic valve dead zone error; Step 8: The PID closed-loop module dynamically corrects the output parameters based on the deviation between the actual speed and the target speed, suppressing external disturbances; Step 9: The output limit module limits the range of the calibrated control signal to match the working parameters of the hydraulic equipment; Step 10: Finally, a smooth and precise control signal is output to the hydraulic controller to drive the rotary mechanism to run stably. The entire process involves cyclic acquisition, calculation, and correction to achieve dynamic self-disturbance rejection control.

[0045] This invention uses a 125T offshore transshipment crane as a specific application platform, equipped with the high-speed rotation self-disturbance rejection control system of this invention, along with high-precision weight sensors, amplitude sensors, incremental encoders, and industrial PLC controllers. Real-world testing was conducted under complex sea conditions with winds and waves of force 5-6. Specific implementation parameters and results are as follows: Core parameter configuration: Acceleration / deceleration reference coefficient k: The default value is 6.0 (acceleration) and 5.0 (deceleration) under normal operating conditions. When the anti-shake phase is activated, the k value is increased to 12.0. PLC scan interruption cycle tscan: fixed at 10ms to ensure speed iteration accuracy; Proportional valve parameters: Pump valve minimum dead zone 11126, effective input range 0~23648; Motor valve minimum dead zone 8192, effective input range 0~27648; PID control coefficient: finely adjusted according to the intensity of sea state disturbance to ensure rapid convergence of speed deviation, no overshoot, and no oscillation; Velocity linear fitting parameters: light load variable amplitude gradient coefficient 0.031429, medium load variable amplitude gradient coefficient 0.0262963.

[0046] Implementation and operational results: (1) Disturbance resistance stability: Under complex sea conditions of wind and waves of level 5 to 6, and under continuous swaying and disturbance of the ship, the slewing speed of the crane is controlled within ±0.05RPM, with no shaking or sudden speed change, and the operation is stable; (2) Operation efficiency: Under light load and small amplitude conditions, it can maintain a high speed of 1.6 RPM, which improves the operation efficiency by more than 30% compared with the traditional fixed low speed control scheme; Under heavy load conditions, it can adapt to low speed operation without safety hazards. (3) Control accuracy: The rotation positioning accuracy error is ≤0.5°, the linearity of the handle operation is excellent, there is no lag or dead zone, and the operation comfort is significantly improved; (4) Safety performance: No speed surge, no starting impact, no risk of load collision throughout the process, fast and stable braking response, suitable for various complex linkage operation conditions.

[0047] In summary, the present invention has the following advantages: The invention features a unique dual-parameter adaptive speed regulation system that perfectly balances efficiency and safety. It breaks through the limitations of traditional single-parameter speed limiting and fixed speed control by constructing a load-amplitude coupled hierarchical linear speed regulation model. Under light load and small amplitude conditions, it operates at full speed to ensure operational efficiency. Under heavy load and large amplitude conditions, it limits the flow at low speed to avoid safety risks. Under heavy load and small amplitude conditions, it limits the speed exclusively to prevent collisions. This achieves the optimal balance between efficiency and safety under all operating conditions and adapts to the diverse operational needs of complex sea conditions.

[0048] Active anti-speed surge control significantly improves operational safety: The pioneering single-operation speed latching algorithm completely solves the problem of abnormal speed surges during the slewing and luffing linkage process, eliminates the abruptness of operation and the risk of misoperation, and solves the long-standing pain point of stability in multi-mechanism linkage control in this field.

[0049] Smooth control throughout the entire process ensures extremely high equipment stability: Through multiple technologies such as variable parameter acceleration and deceleration, startup anti-shake optimization, and PLC iterative ramp output, problems such as crane startup shaking, running impact, and sudden speed changes are completely eliminated; coupled with proportional valve dead zone compensation technology, it achieves fully linear control of the handle operation, with precise operation feel and smooth response.

[0050] Closed-loop self-disturbance rejection design, adaptable to complex sea state disturbances: Based on the encoder-based PID speed closed-loop correction mechanism, it can cancel various complex sea state external disturbances such as ship swaying, hydraulic fluctuations, and wind disturbances in real time, greatly improving speed control accuracy, significantly reducing slewing positioning error, and the equipment's anti-interference capability is far superior to traditional open-loop control schemes.

[0051] The algorithm is highly versatile and has a wide range of applications: The core control algorithm and mathematical model of this invention can be fine-tuned through parameters to adapt to different tonnages and models of marine transshipment cranes. It is not limited to the application scenario of 125T cranes and can be quickly promoted to the slewing control transformation of various marine engineering machinery, which has extremely high engineering application value and industrialization prospects.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A high-speed rotation self-disturbance rejection control system for a crane, characterized in that: include The working condition parameter acquisition module is used to collect the load parameters of the crane rope, the crane amplitude parameters, and the handle operation signals in real time, providing raw working condition data for adaptive control; The adaptive speed constraint module, based on the dual-parameter coupling mechanism of load and amplitude, constructs a hierarchical linear speed constraint model, dynamically calculates the maximum allowable speed of the slewing mechanism according to real-time operating conditions, and realizes adaptive current limiting of speed under different loads and amplitudes; The speed latching anti-speed surge module is used to lock the maximum allowable speed at the initial moment of a single slewing operation. Under the linkage of luffing and slewing, the dynamically calculated speed and the latched speed are compared in real time to prevent abnormal speed surges during the reduction of amplitude. The variable parameter acceleration / deceleration control module establishes a linear mapping model between acceleration / deceleration time and maximum rotational speed, and dynamically matches the acceleration / deceleration duration according to the real-time operating speed to ensure the consistency of equipment acceleration under different operating conditions. The anti-shake optimization module is activated, which dynamically adjusts the acceleration and deceleration ratio coefficients at the moment of starting the slewing turn to slow down the starting acceleration. After the start is completed, the normal parameters are restored to suppress the shaking of the equipment during startup. The proportional valve dead zone compensation module eliminates the inherent dead zone error of the hydraulic proportional valve through a linear interpolation algorithm, achieving a precise linear correspondence between the handle operation stroke and the rotation speed output. The ramp smoothing module calculates the speed iteration increment based on the PLC interrupt cycle and performs graded ramp smoothing output on the given speed of the handle to avoid sudden speed shocks. The PID closed-loop active disturbance rejection module collects the actual rotation speed in real time through the encoder and combines it with the target speed deviation to complete closed-loop dynamic correction, actively suppressing external disturbances caused by sea state swaying. The output limit actuator module limits the range of the calibrated proportional valve output signal, matches the hydraulic controller's operating parameters, and ensures stable system operation.

2. The crane high-speed rotation self-disturbance rejection control system according to claim 1, characterized in that: The operating condition matching logic of the adaptive speed constraint module is as follows: For the 125T transshipment crane When the load under the rope is ≤19t and the amplitude is 11m≤L≤30m, the maximum slewing speed is fixed at 1.6RPM; when the amplitude is 30m<L≤51m, the slewing speed decreases linearly with the increase of amplitude, and the speed range is 1.6RPM~0.94RPM. When 19t < load weight under the rope ≤ 54t and the amplitude is 11m ≤ L ≤ 24m, the maximum slewing speed is fixed at 1.33RPM; when the amplitude is 24m < L ≤ 51m, the slewing speed decreases linearly with the increase of amplitude, and the speed range is 1.33RPM to 0.62RPM. When 54t < load under the rope ≤ 125t, and the amplitude is 11m ≤ L ≤ 26m, the maximum slewing speed is fixed at 0.2RPM; when the amplitude is 26m < L ≤ 51m, the maximum slewing speed is fixed at 0.4RPM.

3. The crane high-speed rotation self-disturbance rejection control system according to claim 1, characterized in that: The adaptive speed constraint module achieves continuous speed calculation under variable amplitude conditions through linear fitting equations. The core algorithm formula is as follows: In the formula, x is the real-time amplitude value of the crane, and y is the maximum permissible slewing speed under the corresponding amplitude. The first amplitude value, This represents the maximum permissible rotational speed during the first amplitude. This is the second amplitude value. This is the maximum permissible rotational speed at the second amplitude.

4. The crane high-speed rotation self-disturbance rejection control system according to claim 1, characterized in that: The control logic of the speed latching anti-speed-up module is as follows: at the moment of starting a single slewing operation, the maximum allowable speed corresponding to the current working condition is latched in real time as the benchmark speed limit value; during the subsequent slewing and luffing linkage operation, the maximum speed calculated in real time is continuously compared with the latched benchmark speed. If the real-time speed is greater than the latched speed, the latched speed is used as the final speed limit value; if the real-time speed is less than the latched speed, the real-time speed is used.

5. The high-speed rotation self-disturbance rejection control system for a crane according to claim 1, characterized in that: The core algorithm of the variable parameter acceleration / deceleration control module is that the acceleration / deceleration time is linearly positively correlated with the maximum rotational speed, and the calculation formula is as follows: In the formula, T is the acceleration / deceleration time. K is the maximum permissible slewing speed under the current operating conditions, and k1 is an adjustable operating condition constant.

6. The crane high-speed rotation self-disturbance rejection control system according to claim 1, characterized in that: The parameter adjustment logic of the startup anti-shake optimization module is as follows: in the initial stage of the turn start, the acceleration and deceleration ratio coefficient k2 is dynamically amplified to slow down the speed rise gradient and eliminate the instantaneous impact of startup; when the turn speed rises to the steady state range, the standard k2 value is automatically restored.

7. The high-speed rotation self-disturbance rejection control system for a crane according to claim 1, characterized in that: The velocity iteration increment algorithm of the slope smoothing module is as follows: Acceleration phase unit iteration increment: Unit iteration increment during deceleration phase: In the formula, This is the maximum input amplitude of the handle. For PLC fixed interrupt scan cycle, These represent the acceleration and deceleration times under real-time operating conditions.

8. The crane high-speed rotation self-disturbance rejection control system according to claim 1, characterized in that: The linear correction algorithm formula for the proportional valve dead zone compensation module is as follows: In the formula, SpeedRef is the speed setpoint after the handle ramping, InputMax is the maximum input range of the handle, MaxEffective is the maximum effective output value of the proportional valve, MinEffective is the minimum inherent dead zone of the proportional valve, and OutputRef is the effective output value after dead zone compensation.

9. The crane high-speed rotation self-disturbance rejection control system according to claim 1, characterized in that: The speed correction formula for the PID closed-loop active disturbance rejection correction module is: In the formula, TargetSpeed ​​is the preset target rotation speed, ActualSpeed ​​is the actual rotation speed collected by the encoder, k3 is the PID proportional control coefficient, OutputRef is the valve control output value after dead zone compensation, and SpeedAdjust is the final corrected output value.

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