The invention relates to a bridge crane anti-swing control method and system, and the method comprises the following steps: constructing a bridge crane system dynamics model containing the friction force of a trolley, a bridge frame and a lifting rope based on the physical parameters of the trolley, the bridge frame, a lifting hook and a load, and setting a control target; an energy function is obtained based on the bridge crane system dynamics model, and an anti-swing controller is obtained according to the friction force of the trolley, the bridge and the lifting rope, the energy function and the control target; and anti-swing control over the bridge crane is achieved according to the driving force output by the anti-swing controller to the trolley, the bridge frame and the lifting rope.
本发明涉及桥式起重机防摇摆控制方法及系统,包括以下步骤:基于台车、桥架、吊钩和负载的物理参数,构建含有台车、桥架和吊绳的摩擦力的桥式起重机系统动力学模型,并设定控制目标;基于桥式起重机系统动力学模型得到能量函数,根据台车、桥架和吊绳的摩擦力,能量函数以及控制目标得到防摆控制器;根据防摆控制器输出的对台车,桥架和吊绳的驱动力,实现对桥式起重机的防摆控制。
Anti-swing control method and system for bridge crane
桥式起重机防摇摆控制方法及系统
2023-09-29
Patent
Elektronische Ressource
Chinesisch
Anti-swing control method for bridge crane, bridge crane device and bridge crane
Europäisches Patentamt | 2022
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