The invention discloses a tower crane rotation control method and device and a computer readable storage medium, and the tower crane rotation control method comprises the following steps: obtaining equipment parameters of a tower crane, and constructing a kinetic equation of the tower crane according to the equipment parameters; performing Laplace transformation on the kinetic equation, and constructing a target transfer function between the rotating speed of a big arm of the tower crane and the rotating speed of a motor; receiving the working frequency of the motor, reconstructing the working frequency of the motor by adopting a time-delay shaper according to the target transfer function, and outputting a target frequency curve; and controlling a motor to operate according to the target frequency curve to eliminate rotation oscillation of the tower crane. According to the invention, through time-delay shaping control, the cost of rotation control of the tower crane is reduced.
本发明公开了一种塔机回转控制方法、装置和计算机可读存储介质,所述塔机回转控制方法包括步骤:获取塔机设备参数,根据所述设备参数构建塔机的动力学方程;将所述动力学方程进行拉氏变换,构建塔机大臂转速和电机转速之间的目标传递函数;接收电机工作频率,并根据所述目标传递函数,采用时滞整形器重构所述电机工作频率并输出目标频率曲线;控制电机根据所述目标频率曲线运行,消除塔机回转震荡。本发明通过在时滞整形控制,降低了塔机回转控制时的成本。
Tower crane rotation control method and device and computer readable storage medium
塔机回转控制方法、装置及计算机可读存储介质
2022-07-12
Patent
Elektronische Ressource
Chinesisch
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