The invention provides a lifting appliance pose control method, system, equipment and program product, a plurality of motors are arranged above a lifting appliance, each motor is connected with the lifting appliance through a steel wire rope, and the method comprises the steps that the current lifting appliance pose of the lifting appliance and the preset final lifting appliance pose are obtained; based on an MPC algorithm, estimating a predicted torque value applied to the lifting appliance in a future preset time period according to the current lifting appliance pose and the final lifting appliance pose; determining an output torque value of each motor in a future preset time period according to the predicted torque value; and the corresponding motors are controlled to operate according to the output torque values of all the motors, so that the pose of the lifting appliance is changed. According to the lifting appliance pose control method, the adjusting speed of the lifting appliance can be increased, overshoot is reduced, and the lifting appliance can rapidly and stably reach the given position.

    本发明提供一种吊具位姿控制方法、系统、设备及程序产品,所述吊具上方设置有多个电机,每个所述电机通过钢丝绳连接所述吊具,所述方法包括:获取所述吊具的当前吊具位姿以及预设的吊具最终位姿;基于MPC算法,根据所述当前吊具位姿和所述吊具最终位姿估算未来预设时间周期内施加在所述吊具上的预测力矩值;根据所述预测力矩值确定未来预设时间周期内各个所述电机的输出力矩值;分别根据各个所述电机的输出力矩值控制对应的电机运行,以改变所述吊具的位姿。本发明的吊具位姿控制方法,能够提高吊具的调节速度,降低超调,使得吊具能够快速、稳定的到达给定的位置。


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    Title :

    Lifting appliance pose control method, system, equipment and program product


    Additional title:

    一种吊具位姿控制方法、系统、设备及程序产品


    Contributors:
    ZHU BINBIN (author) / PAN DANJI (author) / DING CHAO (author)

    Publication date :

    2022-04-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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