The invention relates to an automatic anti-swing control method for a marine crane, and belongs to the technical field of marine cranes. The automatic anti-swing control method comprises the following steps: mounting an attitude sensor on the marine crane, and acquiring rolling and pitching attitude data of a ship in real time by using the attitude sensor; calculating the displacement of a lifting point at the front end of the rhombic mechanism in an absolute coordinate system according to space coordinate conversion; the real-time position where the lifting point needs to reach is calculated according to the displacement, a first telescopic power device and a second telescopic power device of the compensation mechanism are controlled to act to compensate the rhombic mechanism, the influence of ship swing on the lifting point displacement is eliminated, the lifting point is kept relatively static in an absolute coordinate system, and the swing angle of a heavy object is reduced. The automatic anti-swing control method disclosed by the invention is high in operability and accurate in control, can accurately control the displacement of the hoisting point in real time according to the actual swing condition of the ship, and improves the safety, the positioning accuracy and the efficiency of offshore hoisting operation.
本发明涉及一种船用起重机的自动防摇控制方法,属于船用起重机技术领域。自动防摇控制方法包括:在船用起重机上安装姿态传感器,利用姿态传感器实时采集船舶的横摇、纵摇姿态数据;根据空间坐标转换,计算出菱形机构前端的吊点在绝对坐标系下的位移;根据位移量计算出吊点需要到达的实时位置,控制补偿机构的第一伸缩动力装置和第二伸缩动力装置动作对菱形机构进行补偿,消除船舶摇摆对吊点位移的影响,保持吊点在绝对坐标系下的相对静止,减小重物的摇摆角度。本发明的自动防摇控制方法可操作性高,控制精确,能够根据船舶的实际摇摆情况来实时精确地控制吊点的位移,提高海上吊装作业的安全性、定位精度和效率。
Automatic anti-swing control method for marine crane
一种船用起重机的自动防摇控制方法
2023-07-25
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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