17 results about "Sway control" patented technology

The invention discloses an anti-swing predictive control method for an offshore crane, and belongs to the technical field of ocean engineering equipment control. The problem that in the prior art, due to control lag and an inaccurate model, the load swing restraining effect of an offshore crane is poor is solved. According to the scheme, the method is characterized in that the state of a crane and prediction information of future waves are obtained in real time through a state sensor set and a multi-source environment sensing system; mixing the prediction model to predict a crane system state sequence under different control instructions in a future time domain in a rolling manner; based on the prediction sequence, solving a reference control track aiming at suppressing swing and reducing structural fatigue in upper-layer optimization, and solving and outputting an instant control instruction meeting the constraint of an execution mechanism in lower-layer rapid optimization; meanwhile, system health management is independently executed, and a control mode is dynamically adjusted according to evaluation. The method is mainly used for precise anti-swing control of the offshore crane under the complex sea condition, load swing can be effectively inhibited in advance, and operation precision and equipment safety are improved.

This invention relates to a method for roll reduction and anti-sway control during the deployment and recovery of an underwater robot. The method includes: estimating the position coordinates of the gantry pivot in the ship's coordinate system; calculating the motion state of the gantry pivot in the geodetic coordinate system based on the position coordinates, the mother ship's heading angle, pitch angle, roll angle, and the mother ship's coordinate position in the geodetic coordinate system; obtaining the linear acceleration and linear velocity of the underwater robot in the robot's coordinate system, and projecting the linear acceleration and linear velocity onto the geodetic coordinate system to obtain the underwater robot's motion state in the geodetic coordinate system; calculating the lateral and longitudinal sway angles of the underwater robot relative to the gantry pivot based on the motion state; and generating control commands based on the lateral and longitudinal sway angles to drive the anti-sway device to perform motion compensation along the lateral and longitudinal directions, thereby achieving roll reduction and anti-sway control. This method achieves a fundamental shift from "passive servoing" to "active roll reduction," significantly improving the safety and reliability of deployment and recovery operations.

This invention provides an anti-sway control method, device, equipment, and medium for an unmanned vehicle. The anti-sway control method includes: acquiring the vehicle's operating parameters in real time, including the rope length between the vehicle and the load; fitting a rope length function based on the rope length; constructing an oscillation period function based on the rope length function; solving the oscillation period function to calculate the load's oscillation period; calculating the vehicle's acceleration / deceleration duration based on the oscillation period; and controlling the vehicle based on the operating parameters and the acceleration / deceleration duration. The anti-sway control method, device, equipment, and medium for an unmanned vehicle provided by this invention can eliminate load swaying.

This invention discloses an anti-sway control method and system for a drone descent device, belonging to the field of drone technology. Addressing the problem of load swaying during single-rope descent, this invention uses the descent device's sensor module to acquire sway state information such as the load's sway angle, rate of change of sway angle, and rope tension, identifying the sway phase of the load. Short-stroke rope retraction is performed near the maximum sway angle, and short-stroke rope release is performed near the lowest point, introducing equivalent damping to the load's sway and consuming sway energy. Anti-sway control is superimposed on the conventional descent commands as an additional control quantity and executed in parallel with the main task. This invention does not rely on drone flight control attitude adjustment or multi-rope differential mechanisms; it achieves closed-loop anti-sway using only the single-rope descent device's own retraction and release capabilities. It has a simple structure, strong engineering feasibility, and is suitable for descent operations with large loads, long ropes, and complex environments.

The invention discloses an anti-swing control method for a stacker. The anti-swing control method comprises the following steps: S1, establishing a stacker swing quantity mathematical model; S2, collecting operation data of the stacker in real time; s3, calculating the current swing quantity of the stacking machine in real time based on the mathematical model of the swing quantity of the stacking machine in the S1 and the data acquired in the S2; s4, the current swing amount of the stacking machine is compared with a preset swing amount threshold value; s5, when the current swing amount of the stacking machine reaches a preset swing amount threshold value, the walking motor is controlled to generate a deviation rectification acceleration opposite to the walking horizontal acceleration in direction, the deviation rectification acceleration lasts for 45-55 milliseconds, and therefore the swing amount of the stacking machine is reduced; and S6, the steps S1 to S5 are executed repeatedly, and the swing amount of the stacking machine in the running process is controlled within a reasonable range all the time. The stacking machine has the advantage of being capable of effectively restraining swing generated in the operation process of the stacking machine.

An automatic anti-sway device and method for under-constrained hoisting belongs to the field of anti-sway control technology for hoisted objects. The device includes hoisting equipment, an anti-sway actuator, a flexible cable, and an object gripping actuator. The anti-sway actuator is located at the bottom of the hoisting equipment. The upper end of the flexible cable is connected to the anti-sway actuator, and the lower end of the flexible cable is connected to the object gripping actuator. An upper cable lock is provided between the flexible cable and the anti-sway actuator, and a redundant cable storage box is provided between the flexible cable and the object gripping actuator. A lower cable lock is provided on the top of the redundant cable storage box. The automatic anti-sway device and method for under-constrained hoisting of the present invention can realize automatic anti-sway under active control. When facing complex disturbances and multi-dimensional swaying, it can provide sufficient motion accuracy and response speed, and has the characteristics of short anti-sway time and high anti-sway efficiency, providing technical support for realizing reliable and efficient object hoisting operations.

The application discloses an offshore crane anti-swing predictive control method, and belongs to the technical field of offshore engineering equipment control. The method aims to solve the problem of poor load swing suppression effect of the offshore crane caused by control lag and inaccurate model in the prior art. The scheme points are as follows: a state sensor group and a multi-source environment perception system are used to acquire the crane state and the predicted information of future waves in real time; a hybrid prediction model is used to predict the crane system state sequence under different control instructions in the future time domain through rolling prediction; based on the predicted sequence, a reference control trajectory is solved in the upper optimization, the reference control trajectory aims to suppress swing and reduce structural fatigue, an instant control instruction is solved in the lower fast optimization, and the instant control instruction meets the actuator constraint and is output; meanwhile, the system health management is independently executed, and the control mode is dynamically adjusted according to the evaluation. The method is mainly used for precise anti-swing control of the offshore crane under complex sea conditions, can effectively suppress the load swing in advance, and improves the operation accuracy and equipment safety.

Methods, apparatuses, systems, and computer program products for an improved anti-sway control system and adjustable end effector for a robotic arm are provided. An example method includes determining at least one of a size, shape, or orientation of a package to be picked up by an end effector of a robotic arm, adjusting a position of a suction cup on the end effector to grasp the package by linearly moving the suction cup from an initial position on a rail associated with the end effector to a predetermined end position on the rail associated with the end effector, determining a path for the robotic arm to move to the predetermined end position; and controlling movement of the end effector via a robotic joint to reduce force on the suction cup by the package due to an acceleration of the package due to movement of the robotic arm.

------08 / 02 / 2564------(OCR) The toggle switch (100) is assembled with: - a housing (20) made of electrically insulating material, the first side button (30a) and the second side button (30b), both of which slide along the housing (20) along each sliding axis (AA, BB) between the initial rear position and the final front position; - a rocker control piece (50) which is deployed to be rotated in two opposite directions respectively by the first side button (30a) and the second side button (30b). - The rocker arm (60) with its first end (61) and second end (62) opposite to the first end (61); - The first movable contact (70a) and the second movable contact (70b) which are arranged on the rocker arm (60); - The first fixed contact (80a) and the second fixed contact (80b); - The conductive support pivot (90) on which the rocker arm (60) rests;The rocker control element (50) is deployed and positioned to rotate the rocker transfer element (60) between the following three stable angular positions: - the first angular end of the stroke position, where the first movable contact (70a) contacts the first fixed contact (80a) and where the second movable contact (70b) is separated from the second fixed contact (80b); - the second angular end of the stroke position, where the second movable contact (70b) contacts the second fixed contact (80b) and where the first movable contact (70a) is separated from the first fixed contact (80a); - the central angular position where the movable contacts (70a, 70b) are separated from each fixed contact (80a, 80b). The second end (62) of the rocker transfer element (60) rests on the supporting pivot point (90); ------------ Switch (100) assembled with: -Cover (20) made of electrical insulation material, side button one (30a) and side button two Two (30b), both buttons slide along the housing (20) along each sliding axis (AA,BB). Between the initial rear position and the final front position; - A rocking control part (50) which is deployed to be made to rotate in two opposite directions. In order by side button one (30a) and side button two (30b); - A movable interchangeable part (60) with a first end (61) and a second end (62). Opposite to the first end(61); - First movable contact (70a) and second movable contact (70b) which are arranged on the rocking change parts (60); - The first contact which is fixed at point(80a) and the second contact which is fixed at point(80b); - A conductive pivot support (90) on which the rocking shifting part (60) rests; The rocking control piece (50) is deployed and positioned to rotate the swapping piece. The rocking motion (60) between the following three stable angular positions: -The first angular end of the stroke position, where the movable contact is located. (70a) Contact with a contact part which is fixed at one point (80a) and where the contact part is movable at The two (70b) are separated from the contacts which are fixed to the second (80b); -The second angular end of the stroke position, where the second movable contact is located. (70b) contact with the second fixed contact (80b) and where the movable contact is located. One (70a) is separated from the contact which is fixed at one (80a); -The central angular position where the movable contacts (70a,70b) separate. From each contact part which is fixed (80a,80b) The second end (62) of the rocker arm (60) rests on the pivot support. (90)

The application discloses a kind of self-adapting parameter setting gantry crane grab bucket anti-sway control method and system, belong to door machine control technical field, method includes using first motor control frequency and / or second motor control frequency control door machine carries out rotation and / or luffing action;The mode for obtaining first motor control frequency is: constructing luffing distance factor and rotation angle factor, the maximum angular velocity under current working condition is dynamically corrected;Carry out grab bucket rotation planning, and the angular velocity of rotation planning is converted into first motor control frequency;The mode for obtaining second motor control frequency is: obtaining the maximum linear velocity of grab bucket, using S-curve trajectory planning method carries out grab bucket luffing planning;The linear velocity of grab bucket rotation planning is nonlinearly mapped into second motor control frequency with the pitch angle of boom support.This application can realize the dynamic optimization of anti-sway trajectory, eliminate the conversion error of luffing anti-sway trajectory, enhance system robustness and positioning accuracy.

The invention discloses an electrical cabinet anti-seismic detection device and method, and belongs to the technical field of electrical cabinet detection, the electrical cabinet anti-seismic detection device comprises a base station, a longitudinal moving support plate, a transverse moving support plate, a vertical moving support plate and a tool loading plate; a longitudinal shaking control mechanism, a transverse shaking control mechanism and a vertical shaking control mechanism are installed on the base table, the output ends of the longitudinal shaking control mechanism, the transverse shaking control mechanism and the vertical shaking control mechanism are movably connected with the longitudinal moving supporting plate, the transverse moving supporting plate and the vertical moving supporting plate respectively, and an anti-toppling safety mechanism is further installed on the base table. By means of the mode, the transverse shaking control mechanism, the vertical shaking control mechanism and the anti-toppling safety mechanism can control the longitudinal moving supporting plate, the transverse moving supporting plate and the vertical moving supporting plate to shake respectively, shaking of a front-rear shaft, a side-side shaft and a vertical shaft of the electrical cabinet is simulated, and in the detection process, the detection accuracy is improved. Safety protection can be provided through the anti-toppling safety mechanism, the top of the electrical cabinet is pulled when the electrical cabinet topples due to the influence of vibration, and surrounding personnel are prevented from being injured.

The application relates to a bridge crane anti-swing control method and system, which comprises the following steps: constructing a bridge crane system dynamics model containing the friction of a trolley, a bridge and a lifting rope based on the physical parameters of the trolley, the bridge, the lifting hook and the load, and setting a control target; obtaining an energy function based on the bridge crane system dynamics model, and obtaining an anti-swing controller according to the friction of the trolley, the bridge and the lifting rope, the energy function and the control target; and realizing anti-swing control of the bridge crane according to the driving force of the trolley, the bridge and the lifting rope output by the anti-swing controller.

The utility model provides a lifting and swinging control mechanism of a seat, which comprises a body used for bearing a seat main body; the swinging module comprises a base and a swinging rod which are coaxially arranged, and the base is installed in the assembling hole of the body in a matched connection mode; the lifting module is used for achieving lifting of the seat, the lower end of the lifting module is connected with the seat base, and the upper end of the lifting module is connected with a center hole of the swing rod; the control module comprises a control piece at the upper end and a limiting piece at the lower end, an internal thread of the control piece is matched with an external thread of the swing rod, and the limiting piece is matched with a limiting groove of the swing module; the operating handle is used for controlling the seat to swing or lift; when the operation handle rotates, the control piece of the control module is driven to rotate relative to the swing rod, so that the limiting piece of the control module leaves the limiting groove of the swing module, and swing control over the seat is achieved. When the operating handle moves up and down, the lifting module is driven to work, and lifting control over the seat is achieved.

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.

This invention discloses a control system for a movable circular rail robotic arm anti-sway device, comprising: an information detection unit, a central anti-sway control unit, a crane lifting device, a synchronous slewing device, and a circular rail robotic arm anti-sway device. The circular rail robotic arm anti-sway device can adjust its own posture in real time through the luffing and slewing of the robotic arm anti-sway device, ensuring a good rope exit angle for the anti-sway flexible cable, thereby achieving low-power drive of the circular rail robotic arm anti-sway device. For small-amplitude swings, the anti-sway effect can be achieved solely by the circular rail robotic arm anti-sway device; for large-amplitude swings, the anti-sway effect of the suspended load is achieved through the coordinated operation of the synchronous slewing device and the circular rail robotic arm anti-sway device. This control system is simple to operate, facilitates quick assembly and disassembly, and can improve the lifting and transfer efficiency of various cranes, while having no impact on the crane's own slewing and luffing movements.

The utility model relates to the technical field of shock insulation support, disclose a kind of frictional sway control device, including lower support, middle support and upper support, four groups of vertical damping components and several vertical springs are provided between lower support and middle support, four groups of horizontal damping components are provided between middle support and upper support, each group of vertical damping components includes bottom plate and vertical rod, the bottom plate is fixedly installed at the top of lower support, and the top of bottom plate is fixedly connected with four vertical rods, matching damping sleeve one is sleeved on the vertical rod. The utility model can dissipate vertical kinetic energy by vertical damping component to vertical vibration, horizontal transverse vibration can be damped by horizontal damping component, horizontal transverse kinetic energy can be dissipated, horizontal longitudinal vibration can be damped, horizontal longitudinal kinetic energy can be dissipated, double-control damping function is realized, and each support will not be wasted, and the damping effect is good.

This utility model discloses a crane anti-sway control system, belonging to the field of crane technology. It includes a track ring located outside the load-bearing rope. A track groove is formed on the upper surface of the track ring, and a movable seat is slidably engaged in the track groove. A control telescopic rod is fixed on the movable seat, and a buffer assembly is fixed to one end of the control telescopic rod. A locking mechanism is installed on the buffer assembly. The buffer assembly includes a movable plate, with edge plates fixed on both sides above the movable plate. Wing plates are fixed on both sides of the edge plates near the load-bearing rope. One end of the control telescopic rod is fixed to the wing plates. A limit protrusion is fixed to the bottom of the movable plate, and a bearing plate is fixed to the side wall of the movable seat. This control system is mainly used to reduce the sway amplitude of the load-bearing rope when lifting heavy objects. When swaying occurs, the drive mechanism can move the buffer assembly and the locking mechanism to the corresponding positions, and then the swaying of the load-bearing rope is slowed down by controlling the telescopic rod.