The invention provides a method and a system for dynamically adjusting the range of dangerous area of a bridge crane. The method comprises the following steps that based on an MPC algorithm control scheme of angle constraint, the range of the dangerous area of the bridge crane at small rock condition different speeds is acquired; repeating is carried out for a plurality of times to obtain a set ofdata of a corresponding dangerous area range area at the different speeds, and the set of data is represented in a coordinate graph; a least square polynomial curve fitting method is used for constructing an analytic function on the obtained data set, so that given values are approached as much as possible on original discrete points; and based on the analysis function, the real-time operation speed in the normal operation process of the bridge crane is combined, and the area of the dangerous area range is calculated in real time. According to the method, the bridge crane can obtain the areaof the dangerous area range in real time in the normal operation of a crown block, the bridge crane can plan a more efficient operation path through the area of the dangerous area range, and finally the optimal path obstacle avoidance is realized.
本公开提供了一种桥式起重机危险区域范围动态调整方法及系统,基于角度约束的MPC算法控制方案,获取桥式起重机在小摇摆情况不同速度下的危险区域范围;重复多次,获取一组不同速度下对应的危险区域范围面积的数据,并在坐标图中表示;将获得的数据组利用最小二乘法多项式曲线拟合方法,构造解析函数,使在原离散点上尽可能接近给定的值;基于所述解析函数,结合桥式起重机正常运行过程中的实时运行速度,实时计算危险区域范围面积。本公开实现了在天车正常运行中桥式起重机可以实时获得危险区域范围面积,通过危险区域范围面积可以使起式起重机规划出更加高效的运行路径,最终实现最优路径避障。
Method and system for dynamically adjusting range of dangerous area of bridge crane
桥式起重机危险区域范围动态调整方法及系统
2020-05-26
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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