The invention provides an anti-swing control method in the operation process of an unmanned crown block, and relates to the technical field of steel hoisting of the unmanned crown block. The speed and the acceleration are automatically adjusted according to the swinging offset of a lifting appliance in the operation process of the unmanned crown block, and the method comprises the following steps that firstly, an operation direction coordinate system of the unmanned crown block is defined; 2, setting an anti-swing control period as T, namely implementing control according to an interval period T; thirdly, current acceleration values are calculated according to the real-time speed values of the cart and the trolley; fourthly, angle information is actually measured through a swing angle detector, and the relative offset of the lifting appliance relative to the space position of the crown block is calculated; 5, based on a fuzzy control method, calculating to obtain an adjustment gain coefficient of the anti-swing acceleration of the large vehicle and the small vehicle of the crown block; 6, calculating the acceleration adjustment amount according to the adjustment gain coefficient; and 7, correcting the acceleration through the acceleration adjustment amount obtained through calculation.
本发明提供了一种无人天车运行过程中的防摇摆控制方法,涉及无人天车吊运钢材技术领域。本发明根据无人天车运行过程的吊具摇摆偏移量进行速度与加速度的自动调整,包括以下步骤:第一步,定义无人天车运行方向坐标系;第二步,设置防摇摆控制周期为T,即按照T间隔周期实施控制;第三步,根据大车、小车实时速度值计算当前加速度值;第四步,通过摆角检测仪实测角度信息,计算吊具相对于天车空间位置的相对偏移量;第五步,基于模糊控制方法,计算获得天车的大车与小车防摇摆加速度的调节增益系数;第六步,根据调节增益系数计算加速度调整量;第七步,通过计算获得的加速度调整量修正加速度。
Anti-swing control method in operation process of unmanned crown block
一种无人天车运行过程中的防摇摆控制方法
2022-03-04
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |