The invention discloses a self-adaptive under-actuated portal crane anti-swing and anti-top-rushing
system and method, and relates to the technical field of cranes. The self-adaptive under-actuated portal crane anti-swing and anti-top-rushing
system comprises a
software simulation platform and a hardware
simulation platform; the hardware
simulation platform is provided with a
control system and a vision measurement module; the
software simulation platform simulates the motion trail of transporting and hoisting goods in the working scene where the actual portal
machine is located, and a control simulation model, an anti-swing model and an anti-top-rushing model of the motion trail are constructed; the hardware simulation platform builds a door-seat
machine transportation model based on the size of a real door-seat
machine and a working scene of the real door-seat machine; and the
control system is in data communication connection with the
software simulation platform, and controls the movement of the portal machine transportation model based on track
control parameters obtained by the control simulation model constructed by the
software simulation platform, so that the simulation of the actual transportation condition of the portal machine is realized, and further the training and
verification of the control simulation model, the anti-swing model and the anti-top-rushing model are completed. According to the
system, the deviation self-adaptability and the transportation stability during transportation are guaranteed.