The invention relates to a bridge crane trajectory planning method and system, and the method comprises the following steps: building a bridge crane system dynamics model based on trolley displacement, bridge displacement, lifting rope length, and swing angles of a lifting hook and a load in a three-dimensional space, and setting a control target; designing an auxiliary signal according to state variables of trolley movement, bridge movement, rope length change, lifting hook swinging and load swinging, and converting constraints applied to the trolley, the bridge, the rope length, the lifting hook swinging and the load swinging in the model into constraints to the auxiliary signal according to a control target; according to the result of the model, track planning of trolley and bridge movement and lifting rope change is obtained, and positioning and swing suppression control over the bridge crane are achieved.

    本发明涉及桥式起重机轨迹规划方法及系统,包括以下步骤:基于台车位移、桥架位移和吊绳长度,以及吊钩和负载在三维空间中的摆角,构建桥式起重机系统动力学模型,并设定控制目标;以台车移动、桥架移动、绳长变化、吊钩摇摆和负载摇摆的状态变量设计辅助信号,根据控制目标,将模型中施加在台车、桥架、绳长以及吊钩、负载摆动上的约束转化为对辅助信号的约束;根据模型的结果得到对台车、桥架运动和吊绳变化的轨迹规划,实现对桥式起重机的定位与摆动抑制控制。


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    Titel :

    Trajectory planning method and system for bridge crane


    Weitere Titelangaben:

    桥式起重机轨迹规划方法及系统


    Beteiligte:
    MA XIN (Autor:in) / LI GANG (Autor:in) / LI YIBIN (Autor:in)

    Erscheinungsdatum :

    2023-06-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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