The invention discloses a variable-amplitude anti-swing control method for a tower crane, which comprises the following steps of: setting an expected variable-amplitude running speed V period of a trolley; according to the transfer function of the variable amplitude motor, power Fx needed by the trolley in the corresponding V period is obtained; the Fx serves as a set value and is sent to a PID controller, and the PID controller controls the trolley to move according to the Fx; the starting time T and the displacement X of the trolley are collected in real time; differential calculation is carried out on T and X to obtain the actual speed V < actual > of the trolley; the V < actual > is fed back, and the PID controller adjusts the KD parameter according to the deviation value of the V < actual > and the V period; an anti-swing module is set, and according to a transfer function of the anti-swing module, the actual stress F < actual > of the trolley is obtained through the V < actual >; f < actual > is fed back, and a PID controller adjusts a KP parameter according to a deviation value of F < actual > and Fx; the PID controller adjusts the motion state of the variable-amplitude motor through the KP parameter and the KD parameter, the steady-state error is reduced, and the variable-amplitude anti-swing effect is achieved. The anti-swing device has the advantage of being good in anti-swing effect.
本发明公开了一种塔式起重机用变幅防摇控制方法,它包括以下步骤,设定小车期望的变幅运行速度V期;根据变幅电机的传递函数,得出对应V期时小车需要的动力Fx;将Fx作为设定值送入PID控制器,PID控制器根据Fx来控制小车运动;实时采集启动时间T和小车的位移X;对T和X进行微分计算,得到小车的实际速度V实;将V实进行回馈,PID控制器根据V实和V期的偏差值来调节KD参数;设定防摇模块,根据防摇模块的传递函数,通过V实得出小车的实际受力F实;将F实进行回馈,PID控制器根据F实和Fx的偏差值来调节KP参数;PID控制器通过KP参数和KD参数,调节变幅电机运动状态,降低稳态误差,实现变幅防摇效果。本发明具有防摇效果较好的优点。
Variable amplitude anti-swing control method for tower crane
一种塔式起重机用变幅防摇控制方法
2022-10-11
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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