The invention provides an impact-switching-free random positioning anti-swing control method for a double-pendulum crane. The method comprises the following steps: establishing a swing angle single closed-loop control system by specifying a running speed and measuring the swing angle of a lifting hook in the accelerated and uniform-speed movement process of a cart and a trolley of the crane; controlling the cart and the trolley of the crane to run at a specified running speed and inhibiting load swinging; and in the positioning process of the cart and trolley of the crane, establishing a swing angle and position double-closed-loop control system by measuring the swing angle of the lifting hook and the displacement of the trolley, and controlling the cart and trolley of the crane to be positioned to the position expected by an operator to enable the load swing angle to be zero. In addition, by arranging a transition process, the crane can be smoothly transited from single closed-loop control to double closed-loop control, and load swing caused by switching impact is eliminated. According to the method, the positioning precision during manual control of the double-pendulum crane can be remarkably improved, meanwhile, load swing can be greatly reduced, and the working efficiency of the crane is improved.
本发明提供了一种无冲击切换的双摆起重机随机位置定位防摇控制方法,该方法在起重机大车和小车加速和匀速运动过程中,通过指定运行速度并测量吊钩摆角建立摆角单闭环控制系统,控制起重机大车和小车按指定运行速度运行并抑制负载摆动;在起重机大车和小车定位过程中,通过测量吊钩摆角和小车位移建立摆角和位置双闭环控制系统,控制起重机大车和小车定位到操作员期望的位置并使得负载摆角为零。另外,通过安排一个过渡过程使起重机可以由单闭环控制平滑过渡到双闭环控制,消除由于切换冲击导致的负载摆动。该方法可以显著提高人工控制双摆起重机时的定位精度,且同时能够大幅度降低负载摆动,提高起重机的工作效率。
Impact-switching-free random positioning anti-swing control method for double-pendulum crane
无冲击切换的双摆起重机随机位置定位防摇控制方法
2021-06-29
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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