The invention discloses an anti-swing control method for a crane. Acceleration of a sling load of a suspension arm is performed through a cosine function; energy impact caused in the frequent starting and stopping processes of an executing component is restrained; the swing angle theta(t) of the sling load is worked out according to a swing mathematic model B of the swing load of the crane and the acceleration (please see the formula in the description) of the suspension arm; the swing angular speed (please see the formula in the description) of the sling load is obtained through derivation; according to the swing angle theta(t) of the sling load, the swing angular speed (please see the formula in the description) of the sling load, and the remnant swing amplitude computational formula (please see the formula in the description) of the sling load, the input frequency omega of a shaping controller is worked out; according to the speed of the suspension arm operated by a crane operator and the input frequency omega of the shaping controller, the acceleration amplitude A of the crane is worked out; finally, the acceleration (please see the formula in the description) is worked out and input into the shaping controller as an input signal, and a control signal is obtained; and the control signal passes a driving amplification unit and thus can control the executing element, and the remnant swing angle of the sling load can be zero after acceleration of the suspension arm of the crane. The method has the beneficial effects that in a crane control system, swing of the crane is eliminated, energy impact of the executing element is reduced, and the transport efficiency of the crane control system is improved.
Anti-swing control method for crane
2015-11-04
Patent
Electronic Resource
English
IPC: | B66C Krane , CRANES |
Anti-swing control system of crane and anti-swing control method
European Patent Office | 2015
|