The invention discloses an automatic tower crane control method and system based on man-machine co-fusion, and relates to the technical field of crane system control. The method comprises the following steps: acquiring the driving state of the tower crane, and defining a tower crane driving system model; manual operation intervenes in controlling the tower crane driving system model, and positioning errors in the manual operation process are adjusted; performing trajectory tracking according to a control instruction of manual operation, and calculating a tracking error; compensating according to the tracking error to obtain an optimal control solution, and automatically controlling the tower crane according to the optimal control solution. According to the method, the situation of intervention of manual operation commands is considered in automatic control, and load swing is effectively inhibited while mutual integration of the manual operation commands and automatic control is realized, so that the working efficiency and the operation stability and safety of the tower crane are effectively improved.

    本发明公开了一种基于人机共融的塔式起重机自动控制方法及系统,涉及起重机系统控制技术领域。该方法包括步骤:获取塔式起重机驱动状态,定义塔式起重机驱动系统模型;人工操作介入控制塔式起重机驱动系统模型,并调整人工操作过程中的定位误差;根据人工操作的控制指令进行轨迹跟踪,并计算跟踪误差;根据跟踪误差进行补偿,得到控制最优解,按照控制最优解对塔式起重机进行自动控制。本发明在自动控制中同时考虑人工操作命令介入的情况,在实现人工操作命令和自动控制互融共通的同时,有效抑制负载摆动,从而有效提高塔式起重机工作效率和运行稳定性与安全性。


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    Titel :

    Automatic tower crane control method and system based on man-machine co-fusion


    Weitere Titelangaben:

    一种基于人机共融的塔式起重机自动控制方法及系统


    Beteiligte:
    WU QINGXIANG (Autor:in) / SUN NING (Autor:in) / GUO SHUDONG (Autor:in) / CHEN XIAOWEI (Autor:in) / WU YINAN (Autor:in) / YANG TONG (Autor:in) / BI XINSI (Autor:in)

    Erscheinungsdatum :

    2024-01-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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