The invention relates to the technical field of port container loading and unloading, and discloses an automatic deviation rectifying method for a cart of a rubber-tired crane. Comprising the following steps that 1, an ideal virtual track is arranged on a normal walking track of a cart; step 2, establishing a calculation formula, and detecting a data difference value of actual deviation orbit through a sensor; step 3, establishing a coordinate system graph, and establishing a mapping relation; and 4, judging the running trend of the cart according to the mapping relation reaction, and correcting the running trend. In order to realize flexible operation of the rubber-tyred container gantry crane in different container storage yards, the invention provides the automatic deviation rectifying method for the cart of the rubber-tyred container gantry crane, the defects caused by judgment depending on human experience are overcome, and the automatic deviation rectifying function of the cart is realized by utilizing a PID (Proportion Integration Differentiation) control technology.
本发明涉及港口集装箱装卸技术领域,且公开了一种轮胎式起重机大车自动纠偏方法。包括以下步骤:步骤1、在大车正常行走轨道上,设置一条理想的虚拟轨道;步骤2、建立计算公式,通过传感器检测出实际偏离轨道的数据差值;步骤3、建立坐标系图,并建立映射关系;步骤4、通过映射关系反应判断出大车的运行趋势,并进行纠正。本发明为了实现轮胎式集装箱龙门式起重机在不同集装箱堆场的灵活作业,发明了一种轮胎式集装箱龙门式起重机大车自动纠偏方法,本发明克服了靠人为经验去判断存在的缺陷,利用PID控制技术,实现大车的自动纠偏功能。
Automatic deviation rectifying method for cart of rubber-tired crane
一种轮胎式起重机大车自动纠偏方法
2023-09-05
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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