32 results about "Sway control" patented technology

The present invention discloses a method, apparatus, medium, and device for sway control of an overhead crane, the method comprising: establishing a lifting strategy corresponding to the target lifting operation; obtaining training data of the target operator controlling the crane bridge and / or trolley to complete a simulated lifting operation according to the lifting strategy; analyzing the training data to generate the sway control method for each target motion state of the crane bridge and trolley; and adopting the corresponding sway control method during actual lifting based on the current travel state of the crane bridge and trolley. The present invention performs overall path planning and crane bridge and trolley motion state planning for the lifting operation to determine a lifting strategy consistent with the construction site environment.During the lifting process, electronic and manual sway damping are combined depending on the operator's operating habits and skills, which not only improves the lifting performance but also increases the operational safety of the bridge crane, so that the load only shakes slightly when the bridge crane starts, stops, accelerates or decelerates, which improves the safety of the lifting process.

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.

The invention relates to the technical field of unmanned aerial vehicles, and discloses an anti-swing control system and method for hanging a multi-quad-rotor unmanned aerial vehicle, and the system comprises a multi-quad-rotor unmanned aerial vehicle body, the multi-quad-rotor unmanned aerial vehicle body comprises a leading unmanned aerial vehicle and an adjusting unmanned aerial vehicle, and the bottom of the leading unmanned aerial vehicle and the bottom of the adjusting unmanned aerial vehicle are connected with hanging ropes. The tail ends of the two hanging ropes are connected to the same hanging ring; a control box is fixedly mounted on the adjusting unmanned aerial vehicle, and a control system main body is arranged in the control box; mounting holes are formed in the two opposite ends of the control box, and heat dissipation mechanisms are arranged in the two mounting holes. The inclination angle of the unmanned aerial vehicle in the hanging process is detected and adjusted through the angle inclination sensor, the angle of the unmanned aerial vehicle is corrected through the correction module after the information of the angle inclination sensor is received through the central processing unit, and the hanging angle of the unmanned aerial vehicle is controlled and adjusted through the attitude controller. Therefore, the effect of conveniently controlling the swing correction angle in the hanging process of the multi-quad-rotor unmanned aerial vehicle is achieved.

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 application relates to the field of anti-swing technology of ship-mounted cranes, and discloses a ship-mounted crane anti-swing control method and system, which comprises the following steps: establishing a ship coordinate system and calculating the relative kinetic energy of the crane according to the ship coordinate system, adding inertial force to the generalized force of each degree of freedom, analyzing the dynamic model of the swing of the crane boom and the load, combining the RBF neural network model and the sliding mode control to construct adaptive sliding mode anti-swing control, analyzing the continuous uncertain upper bound disturbance existing in the under-actuated ship-mounted crane load based on the adaptive sliding mode anti-swing control, approximating the continuous disturbance of the uncertain upper bound, simplifying the dynamic model, introducing the backstepping sliding mode control to compensate the observation error of the nonlinear disturbance observer, judging the position of the load, and switching the LQR control and the adaptive sliding mode anti-swing control according to the judgment result. The application has the characteristics of good anti-swing control and dynamic adjustment.

A system, apparatus, and method are provided herein for haptic-based force balance for anti-sway control of a payload. A haptic feedback system for crane operation is provided including: a controller; a first haptic device including a first haptic device tip; a second haptic device including a second haptic device tip; and a structural member connecting the first haptic device and the second haptic device, where the controller is configured to correlate the first haptic device tip to a first reference point on a payload and to correlate the second haptic device tip to a second reference point on the payload, and where anti-sway control of the payload is effected by movement of the structural member by an operator.

The utility model discloses an anti-swing control system of an overhead and gantry crane, which comprises a lower mounting plate, four groups of first rotating sheets are fixedly connected to the outer side of the lower mounting plate, a first rotating rod is rotatably connected between the first rotating sheets on two sides, and rotating arms are fixedly connected to the outer sides of two ends of the first rotating rod. Rotating blocks are rotatably connected to the interiors of the other ends of the rotating arms, mounting blocks are fixedly connected to the lower portions of the rotating blocks, moving blocks are slidably connected to the interiors of the sides, facing each other, of the mounting blocks on the two sides, first damping rods are fixedly connected between the moving blocks and the inner walls of the mounting blocks, and first springs are arranged on the outer sides of the first damping rods in a sleeving mode; the two ends of each first spring are fixedly connected with the inner wall of the corresponding moving block and the inner wall of the corresponding mounting block, one end of each moving block is fixedly connected with a mounting rod, and a fixing rod is fixedly connected between the mounting rods on the two sides, so that shaking of a lowered chain in all directions at the proper position can be buffered, and shaking of the whole equipment is effectively reduced.

The present invention discloses a gantry crane anti-sway control method and system based on the dynamic stability of a horizontally constrained simple pendulum system. The method comprises the following steps: Step 1: Collecting the structural parameters and dynamic parameters of the crane; Step 2: Inputting the structural parameters and dynamic parameters into a preset Lagrangian model to obtain output data; Step 3: Performing mass normalization on the output data to obtain an undamped state-space equation and a control target; Step 4: Transforming the undamped state-space equation according to a variational method to obtain transformed data; Step 5: Calculating the optimal solution of the transformed data based on the construction of a transfer function and terminal displacement requirements, and controlling the crane according to the optimal solution. The present invention achieves optimal control of the crane by setting the transfer function and terminal displacement requirements, solves the problem of load swing during crane movement, and greatly improves the work efficiency of the crane operator.

This invention relates to the field of unmanned overhead crane control technology, and discloses an anti-sway control method and system for unmanned overhead cranes. The method includes: initially determining the initial transport speed and initial wire rope length of the unmanned overhead crane based on the load mass information, the transport distance information, and historical information; adjusting the initial transport speed based on the load swing angle and load swing angular velocity to obtain the adjusted transport speed; adjusting the initial wire rope length based on the ambient wind speed and its variation to obtain the adjusted wire rope length; and storing the load mass information, the transport distance information, the initial transport speed, the initial wire rope length, the load swing angle, the load swing angular velocity, the ambient wind speed, its variation, the adjusted transport speed, and the adjusted wire rope length. This invention, through multi-parameter collaborative optimization, ensures transport efficiency, improves the anti-sway effect, and solves the problems of slow response and poor adaptability in traditional overhead crane control.

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)

To provide a crane stop-time shaking stop control method capable of grasping a shaking state after a target position stop and stopping shaking with the minimum moving distance without veering from a target stop position.SOLUTION: After a target position of a crane has been reached, a shaking period T[s] and a shaking width D[mm] are measured from a rope length L[mm] and a shaking angle θ[°] in a state where the crane is temporarily stopped. On the basis of the shaking period T[s] and the shaking width D[mm] that have been measured, the number of inching times n[times], an inching frequency f[Hz], inching time t[s], an inching moving distance r[mm], and a suppression shaking width d[mm] that an inverter of an inching table prepared in advance gives to a motor are selected and set as parameters. An inching operation is performed with an inching operation based on the selected and set parameters and an inching operation having the same inching frequency f[Hz], the same inching time t[s] and an opposite inching direction as a set.SELECTED DRAWING: Figure 2

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 invention provides an anti-swing control method, device, equipment and medium for an unmanned travelling crane, and the anti-swing control method comprises the steps: obtaining the operation parameters of the travelling crane in real time, the operation parameters comprising the rope length between the travelling crane and a load; fitting a rope length function according to the rope length of the operation parameters; constructing a swing periodic function according to the rope length function; solving the swing period function, and calculating the swing period of the load; the acceleration and deceleration duration of driving is calculated according to the swing period; and according to the operation parameters and the acceleration and deceleration duration, driving is controlled. Through the anti-swing control method, device and equipment for the unmanned vehicle and the medium provided by the invention, the swing of the load can be eliminated.

The present invention relates to the field of crane control technology and discloses a method for intelligent crane anti-sway control based on reinforcement learning. The method comprises: collecting crane motion state data (including position and speed) and load sway data; judging whether control actions effectively reduce sway based on this data combined with a reinforcement learning model; and executing anti-sway operations if effective. The method defines a state space (including crane position, load sway angle, and speed), an action space (including control instruction direction and amplitude), and a reward function based on sway amplitude changes and energy consumption to train the model. Data is collected in real time via sensors and processed through filtering and smoothing. During model training, the model is updated using convergence criteria, and control actions and data points are accurately associated and secondary verified through feature matching, group statistics, and other methods. Direction and amplitude control verification is performed during operation. This method improves the accuracy, robustness, and energy efficiency of crane anti-sway control and is suitable for complex industrial scenarios.

The present invention relates to the field of lifting control, and in particular to an anti-sway control device for a crane. The present invention sets a feature acquisition module, a lifting analysis module and a lifting control module. The feature acquisition module collects data, and the lifting analysis module analyzes the morphological differences of underwater objects to be lifted in different reference directions. The fluid resistance difference characterization coefficient is calculated in combination with the weight of the objects to be lifted, and the fluid resistance difference category of the underwater objects to be lifted is determined. Subsequently, the crane action is adaptively controlled based on the fluid resistance difference category. In particular, under the strong resistance difference category, the crane's movement speed is determined based on the fluid resistance difference characterization coefficient, and the crane's movement state is adjusted based on the movement stability characterization value, thereby reducing the impact of swinging caused by uneven fluid resistance on the movement process of underwater special-shaped objects, thereby improving the safety and reliability of movement.

The application provides a tower crane luffing motion anti-swing control method and system, comprising: when the tower crane is running, real-time acquisition of output torque extreme value data in a frequency converter; the output torque extreme value data is sequentially subjected to an outlier removal and extreme value processing to detect whether the output torque extreme value exceeds an output torque extreme value corresponding to a set angle threshold; if yes, the rope length and the hoisting weight of the tower crane at the moment are acquired through a tower crane height sensor and a weight sensor, the maximum frequency of the tower crane operation is calculated in combination with the output torque extreme value corresponding to the set angle threshold, and the control system limits the operation frequency to be not more than the maximum frequency. The method solves the problem that the swing angle of the tower crane cannot be specifically measured, does not need to install a swing angle sensor, and reduces the cost and complexity of the tower crane; the swing angle can be avoided to be too large during the luffing process of the tower crane in a complex working environment, so that the working efficiency and safety of the work are improved.

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.

The invention relates to the technical field of crane control, and discloses an intelligent crane anti-swing control method based on reinforcement learning, which comprises the following steps: collecting motion state data (including position and speed) and load swing data of a crane, judging whether a control action effectively reduces swing based on the data and a reinforcement learning model, and if yes, executing anti-swing operation. Wherein a state space (including crane position, load swing angle and speed), an action space (including control instruction direction and amplitude) and a reward function based on swing amplitude change and energy consumption are defined to train the model; data are collected in real time through a sensor and are processed through filtering and smoothing; during model training, through convergence criterion updating, control actions and data points are subjected to feature matching, grouping statistics and the like to realize accurate association and secondary verification, and direction and amplitude control verification is carried out during operation execution. The method improves the precision, robustness and energy efficiency of anti-swing control of the crane, and is suitable for complex industrial scenes.

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.

The invention relates to the technical field of equipment control, in particular to an ultrahigh stacker anti-swing control method and system, and provides the following scheme that a swing state matrix is generated by collecting state data, a braking matrix is iteratively calculated from bottom to top, and a filtering function and an energy dissipation field are constructed; and the vibration mode of the upper layer is corrected based on the frequency domain energy attenuation vector, so that layer-by-layer control updating of the swing state is realized. According to the invention, active suppression of structural vibration can be realized under the condition of not depending on advanced deceleration, and the docking precision and the operation stability are improved.

The invention discloses a laser radar positioning and anti-swing control system for a grab ship unloader, and relates to the technical field of grab ship unloader control, the control system comprises a laser radar module, a swing prediction module, a fusion judgment module and an active anti-swing execution module, the laser radar module is used for obtaining three-dimensional coordinates of a grab of the grab ship unloader, and the swing prediction module is used for predicting the three-dimensional coordinates of the grab of the grab ship unloader; the three-dimensional coordinates are collected according to a preset frequency, and the multiple three-dimensional coordinates are combined to generate path coordinate data of the grab bucket. By positioning the grab bucket of the grab bucket ship unloader, accurate equipment positioning can be provided for workers, the swing risk possibly occurring in the single loading and unloading process of the grab bucket is predicted in advance in combination with grab bucket swing prediction, corresponding advanced active suppression operation is carried out, large-range swing of the grab bucket is prevented, and the safety of the grab bucket ship unloader is improved. The problem that anti-swing operation lags behind or is poor in adaptability is solved, the stability of grab bucket operation is guaranteed, and the operation goals of high safety and high efficiency of the grab bucket ship unloader are achieved.

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.