The invention provides a bridge crane positioning and anti-swing control method for achieving random parking. The positioning and anti-swing control that ensures random parking of a trolley is achieved as follows: the operation speed of the trolley is taken as an expected speed, the initial load swing angle is zero, and a pre-constructed crane random parking position positioning anti-swing controller taking the speed as an input is adopted; before a stop signal is given, only the load swing angle feedback anti-swing control is carried out; after the stop signal is given, the displacement of the trolley is set to be zero when the stop signal is given, the displacement of the trolley is calculated using the trolley speed fed back by a speed encoder in real time, and the position closed-loopcontrol is carried out, so that the double-closed-loop control is achieved. The positioning and anti-swing control for a cart is the same as that for the trolley. Random parking can be achieved, the use of a position sensor is reduced, the simple speed encoder is used for carrying out short-distance position feedback, the cost is reduced while the control effect is not influenced, and the controlsystem is simpler and can resist external impact.

    本发明提供一种可实现随机位置停车的桥式起重机定位防摇控制方法,小车随机位置停车下的定位防摇控制:以小车运行速度为期望速度,初始负载摆角为零,采用预先构建的以速度为输入的起重机随机位置停车定位防摇控制器,在给定停止信号前,只进行负载摆角反馈防摇控制,在给定停止信号后,设定给定停止信号时小车的位移为零,利用速度编码器实时反馈的小车速度计算小车位移,进行位置闭环控制,从而实现双闭环控制;大车定位防摇控制与小车相同;可实现随机停车,并减少位置传感器的使用,利用简单的速度编码器来进行短距离的位置反馈,在不影响控制效果的同时降低成本,而且会使得控制系统更简单,能抵御外界冲击。


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    Titel :

    Bridge crane positioning and anti-swing control method for achieving random parking


    Weitere Titelangaben:

    一种可实现随机位置停车的桥式起重机定位防摇控制方法


    Beteiligte:
    WANG XIAOKAI (Autor:in) / ZHENG XUEBING (Autor:in) / XIA MINGHUI (Autor:in) / WU QINGXIANG (Autor:in) / HUA LIN (Autor:in)

    Erscheinungsdatum :

    2020-06-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES



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