The invention discloses a rope-length-variable industrial travelling crane anti-swing control method based on seven-section trajectory planning. Aiming at the problem of anti-swing control of a variable-rope-length travelling crane in which horizontal movement and lifting movement of the travelling crane are coupled, the anti-swing control method of the variable-rope-length industrial travelling crane with seven-section trajectory planning is designed based on the idea of phase trajectory switching, so that the operation efficiency of the travelling crane is greatly improved; compared with traditional three-section type trajectory planning, the acceleration selectable domain of seven-section type trajectory planning is changed into a continuous domain from a discrete domain, the acceleration magnitude and the acceleration duration can be planned more flexibly, and the performance of a driving driver is brought into full play. A system hardware device of the seven-section type track planning industrial travelling crane anti-swing control method mainly comprises a PLC, a frequency converter, an alternating current asynchronous motor, an angle measuring instrument, a Gray bus distance measuring cable and an upper computer.

    本发明公开了基于七段式轨迹规划的变绳长工业行车防摇控制方法。针对行车水平运动和升降运动相耦合的变绳长行车防摇控制问题,基于相轨迹切换的思想,设计了一种七段式轨迹规划的变绳长工业行车防摇控制方法,大幅提高了行车作业效率;相较于传统的三段式轨迹规划,七段式轨迹规划的加速度可选域由离散域变为连续域,能够更加灵活地规划加速度大小和加速时长,以充分发挥行车驱动器性能。所述七段式轨迹规划工业行车防摇控制方法的系统硬件装置主要包括:PLC控制器、变频器、交流异步电动机、角度测量仪、格雷母线测距电缆和上位机。


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    Title :

    Anti-swing control method for variable-rope-length industrial travelling crane based on seven-section trajectory planning


    Additional title:

    基于七段式轨迹规划的变绳长工业行车防摇控制方法


    Contributors:
    NIU DAN (author) / GU YANGCHEN (author) / LI QI (author) / LIU MINGHAO (author) / CHEN XISONG (author)

    Publication date :

    2023-01-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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