The invention discloses a crane anti-swing control method which is characterized in that a hoisting table is used for hoisting goods; a motion controller is used for controlling the speed of the hoisting table; and a control system is electrically connected with the hoisting table so as to control the movement of the hoisting table. The method comprises the following steps: S1, hoisting the goods, and collecting parameters related to the movement of the goods so as to calculate the simple pendulum period Tm of the goods; S2, setting the initial speed of the hoisting table and the goods as V0, and controlling the hoisting table to accelerate to V1 through the motion controller by an operator; Step S21, controlling the hoisting table to accelerate from V0 to V2 by the control system, wherein V2 approaches to (V1 + V0)/2; S22, enabling the hoisting table to keep moving at the constant speed at the speed of V2, and conducting simple pendulum motion on the goods; S23, enabling the simple pendulum speed of the goods to the lowest point to be close to V1, and controlling the hoisting table to accelerate to V1 from V2 by the control system; S3, conveying the goods by the hoisting table at a constant speed at the speed of V1; and S4, conveying the goods in the deceleration stage, wherein the acceleration direction is opposite in the same way as that in the step S2.

    本发明公开了一种起重机防摇摆控制方法,步骤如下:吊装台,用于吊装货物;运动控制器,用于控制吊装台的速度;控制系统,与吊装台电性连接,以控制吊装台的运动;步骤如下:步骤S1:吊装货物,并采集与货物的运动相关的参数,以用于计算货物的单摆周期Tm;步骤S2:吊装台和货物的初始速度为V0,操作员通过运动控制器控制吊装台加速至V1;步骤S21:控制系统控制吊装台由V0加速至V2,其中V2趋近于(V1+V0)/2;步骤S22:吊装台在V2的速度下保持匀速运动,货物进行单摆运动;步骤S23:货物单摆至最低点的速度趋近于V1,控制系统控制吊装台由V2加速至V1;步骤S3:吊装台在V1的速度下,匀速运输货物;步骤S4:减速阶段运送货物,与步骤S2同理,加速度方向相反。


    Access

    Download


    Export, share and cite



    Title :

    Crane anti-swing control method and crane adopting same


    Additional title:

    起重机防摇摆控制方法及采用此方法的起重机


    Contributors:
    YANG TAO (author) / YANG SHIXIANG (author) / WANG CHAOGUANG (author) / LIU ZHENKUN (author) / ZHANG MIN (author) / SONG HUI (author)

    Publication date :

    2021-07-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



    Anti-swing crane

    ZHANG HENGCHUN / DAI RUIPING / CHENG SUJUAN et al. | European Patent Office | 2023

    Free access

    Anti-swing control method for bridge crane, bridge crane device and bridge crane

    LIU WEI / SHEN JUNWEI | European Patent Office | 2022

    Free access

    Anti-swing bridge crane

    HAN JIANJUN / ZHU SHENGFAN / HE DANFENG et al. | European Patent Office | 2023

    Free access

    Windproof anti-swing crane

    LIU FANG / WANG SONGLEI / YAN LINBING et al. | European Patent Office | 2023

    Free access

    Anti-swing positioning crane

    LIANG DAWEI | European Patent Office | 2021

    Free access