The invention discloses a timed variable-speed open-loop anti-swing control method for a bridge crane to adapt to accompanying lifting, which comprises the following steps of: 1, establishing a lifting suspended loader control model: 1.1, establishing a two-dimensional bridge crane model; 1.2, analyzing the influence of the rope length and the hoisting weight on a control system; step 1.3, establishing a hoisting and loading machine control model based on acceleration and acceleration time; step 2, determining a speed setting coefficient on the basis of the control model of the hoisting and loading machine established in the step 1; 3, determining preset acceleration time on the basis of the control model of the hoisting and loading machine established in the step 1; according to the method, by establishing the control model based on the acceleration and the acceleration time, the operational capability of the crane anti-swing controller can be effectively improved, and the method has the advantages of being good in adaptability and high in robustness.
本发明公开了桥式起重机适应伴随升降的定时变速开环消摆控制方法,包括步骤1.建立起重吊载机控制模型,步骤1.1.建立二维桥式起重机模型;步骤1.2.分析绳长与吊重质量对控制系统的影响;步骤1.3.建立基于加速度与加速时间的起重吊载机控制模型;步骤2.在步骤1建立的起重吊载机控制模型的基础上,确定配速系数;步骤3.在步骤1建立的起重吊载机控制模型的基础上,确定预定加速时间;本方法通过建立基于加速度与加速时间的控制模型,能够有效提高起重机消摆控制器的运算能力,具有适应性好,鲁棒性强的特点。
Timing variable-speed open-loop anti-swing control method for bridge crane to adapt to accompanying lifting
桥式起重机适应伴随升降的定时变速开环消摆控制方法
2023-06-06
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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