The invention provides an anti-swag control method for loop-opening fuzziness of a bridge type crane. The anti-swag control method comprises the following steps: constructing a two-dimensional dynamicmodel of a bridge type crane system through system identification experiment; combining a particle swarm optimization algorithm with the two-dimensional dynamic model, and designing an optimal deceleration anti-sage curve of a trolley; establishing an optimal deceleration curve look-up table of the trolley; utilizing a fuzziness control principle to verify the optimal deceleration curve look-up table of the trolley; during system operation, firstly measuring rope length and calculating an initial angle of a deceleration stage, separately quantifying the rope length and the initial angle intodifferent grades, looking up the table in the optimal deceleration curve look-up table of the crane according to the initial speed of the deceleration stage, and selecting the corresponding optimal deceleration curve to realize the purpose of restraining load swag. The anti-swag control method can realize anti-swag control under different working conditions by looking up the table, remarkably improves operation safety of the crane, reduces an anti-swag distance and anti-swag time, and improves working efficiency and operation stability of the bridge type crane.
本发明提供一种桥式起重机开环模糊防摇控制方法,通过系统辨识实验,构建桥式起重机系统的二维动力学模型;利用粒子群优化算法,结合所述的二维动力学模型,设计小车的最优减速防摇曲线;建立小车的最优减速曲线查询表;利用模糊控制规则校验小车的最优减速曲线查询表;系统运行时,先测量绳长和计算减速阶段的初始角度,将二者分别量化为不同的等级,再依据减速阶段的初始速度,在起重机最优减速曲线查询表中进行查表,选择对应的最优减速曲线,实现抑制负载摆动的目的。本发明过查表可以实现不同工况下的防摇控制,显著提高起重机运行安全性,同时减少了防摇距离和防摇时间,提高了桥式起重机的工作效率和运行稳定性。
Anti-sway control method for loop-opening fuzziness of bridge type crane
一种桥式起重机开环模糊防摇控制方法
2020-07-28
Patent
Electronic Resource
Chinese