The invention discloses a crane input shaping anti-swing control method based on phase plane trajectory planning. The crane input shaping anti-swing control method comprises the following steps: acquiring a permanent constant; inputting the permanent constant into a corresponding control parameter calculation model according to the type of the permanent constant, wherein the control parameter calculation model outputs an acceleration amplitude and switching time; and determining a control scheme according to the control parameters, and controlling the trolley according to the control scheme so as to realize effective anti-swing. According to the method, a new technical thought is provided for input shaping anti-swing control of the current crane, the working efficiency of a crane system is improved, and load swing is effectively inhibited and eliminated; an open-loop control method is adopted, no sensor needs to be installed, the physical structure of the crane does not need to be changed, engineering implementation is easy, and the application prospect is good.

    本发明公开了一种基于相平面轨迹规划的起重机输入整形防摇控制方法,步骤:获取常设常数;根据常设常数的类型将其输入对应的控制参数计算模型,控制参数计算模型输出加速度幅值以及切换时间;根据上述控制参数确定控制方案,并根据控制方案对小车进行控制以实现有效防摇。本发明的方法,为当前的起重机输入整形防摇控制提供了新的技术思路,提高了起重机系统的工作效率,有效的抑制并消除负载摆动;其采用开环控制方法,不需要安装任何传感器,不用改变起重机的物理结构,易于工程实现,应用前景好。


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    Titel :

    Crane input shaping anti-swing control method based on phase plane trajectory planning


    Weitere Titelangaben:

    一种基于相平面轨迹规划的起重机输入整形防摇控制方法


    Beteiligte:
    NIU WANGQIANG (Autor:in) / YANG YANHUA (Autor:in) / HUANG WENBO (Autor:in) / XU WEIMIN (Autor:in) / BAI HONGFEN (Autor:in) / ZHANG YAN (Autor:in)

    Erscheinungsdatum :

    2024-03-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES



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