The invention relates to the technical field of crane control, and discloses an unmanned crane control method for positioning and swinging preventing. A crane speed model is arranged in a crane PLC. The unmanned crane control method comprises the following steps that firstly, the crane positioning distance S is calculated; secondly, the sling load swinging period T is calculated; thirdly, the crane safety speed extreme value V_LIMIT is determined; fourthly, the crane speed model is calculated and set, and it is determined that crane control is a high-speed running or low-speed running model, and the crane control preset speed is v_max; fifthly, the process that a crane is started and accelerated to v_max within [0,T] is divided into a first acceleration stage and a second acceleration stage, the speed of the crane is increased to v_max/2 from 0 within [0, T/2] in the first acceleration stage, and the speed of the crane is increased to v_max from v_max/2 within [T/2, T] in the second acceleration stage; and sixthly, the process of deceleration parking of the crane within [0,T] is divided into a first deceleration stage and a second deceleration stage, the speed of the crane is reduced to v_max/2 from v_max within [0, T/2] in the first deceleration stage, the speed of the crane is reduced to 0 from v_max/2 within [T/2, T] in the second deceleration stage, and the braking distance s_brake of the crane is determined according to related parameters.

    本发明涉及行车控制技术领域,公开一种面向定位和防摇摆的无人行车控制方法,行车PLC内置行车速度模型,包括如下步骤:S1.计算行车定位距离S;S2.计算吊重摆动周期T;S3.确定行车安全速度极值V_LIMIT;S4.对行车速度模型进行计算和设置,确定行车控制为“高速行驶”或“低速行驶”模型及其预设速度v_max;S5.行车在[0,T]内启动加速至速度达到v_max过程中分第一加速阶段和第二加速阶段,第一加速阶段行车在[0,T/2]从速度0到v_max/2,第二加速阶段行车在[T/2,T]从速度v_max/2到v_max;S6.行车在[0,T]内减速停车过程中分第一减速阶段和第二减速阶段,第一减速阶段行车在[0,T/2]内从速度v_max到v_max/2,第二减速阶段行车在[T/2,T]内从速度v_max/2到0;根据相关参数确定行车的刹车距离s_brake。


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    Title :

    Unmanned crane control method for positioning and swinging preventing


    Additional title:

    面向定位和防摇摆的无人行车控制方法


    Contributors:
    XU HAI (author) / LIU CHENGSI (author) / YUAN FANGHAI (author) / MAO XUAN'ANG (author) / LIAO JIHONG (author) / YIN ZHUOHUA (author) / ZHENG YI (author)

    Publication date :

    2020-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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