The invention discloses a real-time control method and system for the swing angle of an object hoisted by a bridge crane. The method comprises the steps that the swing length l after the bridge cranehoists goods is recognized; the relative displacement d of the bridge crane and the goods in the moving direction of the bridge crane is recognized in real time; the acceleration a of the bridge cranein the moving direction of the bridge crane is recognized in real time; in the first stage, the bridge crane is started to drive goods to move forwards; in the second stage, by adjusting the speed ofthe bridge crane, the angle of a suspension arm is controlled; in the third stage, the bridge crane drives the goods to do constant-speed linear motion; in the fourth stage, by adjusting the speed ofthe bridge crane, the angle of the suspension arm is controlled, and the deceleration preparation is made; and in the fifth stage, the bridge crane is braked to control the goods to stop, wherein theabsolute value of the acceleration of each stage is smaller than or equal to the maximum acceleration limit value amax. Compared with the prior art, the real-time control method and system have the advantages that the bridge crane and the goods can achieve anti-swing at the highest speed in the starting stage and the braking stage, the stability of goods transportation is improved, the transportation efficiency is improved, and safety accidents are reduced.

    一种天车吊物摆动角度实时控制方法及系统,包括:识别天车吊起货物后的摆长l。实时识别沿天车运动方向天车与货物的相对位移d。实时识别沿天车运动方向天车的加速度a。第一阶段启动天车,让天车带动货物向前移动。第二阶段通过调整天车的速度,控制吊臂的角度。第三阶段天车带动货物做匀速直线运动。第四阶段通过调整天车的速度,控制吊臂角度,做好减速准备。第五阶段通过刹停天车,控制货物停止。其中,各阶段的加速度的绝对值均小于等于最大加速度限值amax。本发明相较于现有技术,能够使得天车与货物在启动阶段和制动阶段,最快速度的消摆,提高货物运输的稳定性,提高运输效率,降低安全事故的发生。


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    Titel :

    Real-time control method and system for swing angle of object hoisted by bridge crane


    Weitere Titelangaben:

    一种天车吊物摆动角度实时控制方法及系统


    Beteiligte:
    LI TAOLIN (Autor:in) / LI BIN (Autor:in) / XIA YIMENG (Autor:in) / WANG MINXUE (Autor:in) / LUO YIQI (Autor:in) / LIANG XIAOXIAO (Autor:in)

    Erscheinungsdatum :

    2020-12-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES



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