The invention discloses a tower crane rotation control method, device and equipment and a computer readable medium, and relates to the technical field of industrial automation control. The method comprises the steps that closed-loop control over the rotation speed of a tower crane is achieved through a proportional differential controller, and the rotation speed of the tower crane is controlled while low-frequency torsional vibration interference during tower arm rotation motion is restrained; and the problems of poor parameter adaptability, high time lag and the like can be avoided. Besides, according to the scheme, an observer is constructed to estimate the load torque of the tower crane, then proportional differential control output is compensated, the problem that proportional differential control is prone to being interfered by loads is solved, meanwhile, wind resistance is brought into the load observation range, and the wind resistance performance of the control system is improved. Moreover, hardware equipment does not need to be additionally added, the implementation cost is low, and the actual engineering requirements are better met.

    本申请公开一种塔机回转控制方法、装置、设备和计算机可读介质,涉及工业自动化控制技术领域,该方法包括:通过比例微分控制器实现对塔机回转速度的闭环控制,在抑制塔臂回转运动时低频扭振干扰的同时,还可以避免对参数的适应性差、时滞高等问题。另外,本方案还通过构建观测器以估计塔机的负载转矩,进而对比例微分控制输出进行补偿,克服比例微分控制容易被负载干扰问题的同时,将风阻纳入负载观测范围,以提高控制系统的抗风性能。并且,本方案不需要额外添加硬件设备,实施成本低,更好地满足实际工程需要。


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    Titel :

    Tower crane rotation control method, device and equipment and computer readable medium


    Weitere Titelangaben:

    塔机回转控制方法、装置、设备和计算机可读介质


    Beteiligte:
    LI LONGFEI (Autor:in) / CAI LEI (Autor:in) / LI CHENDONG (Autor:in)

    Erscheinungsdatum :

    02.02.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES



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