The invention relates to the technical field of crane control, in particular to a crane cluster synchronous motion control system and method. According to the crane cluster synchronous motion control system and control method provided by the invention, the lifting position is synchronously controlled, the absolute value encoder is used for detecting the lifting position, and the weight sensor is used for detecting the weight of the lifting hook so as to determine a lifting hook grounding signal as the lowest descending position of the lifting hook; the lifting limit installed on the lifting hook serves as the highest lifting position of the lifting hook, it is guaranteed that one-time correction can be conducted when the lifting/descending process starts each time, error accumulation is eliminated, and the detection precision of the position in the lifting direction is guaranteed; for transverse movement position control, the unit adopts a UWB positioning base station for positioning, meanwhile, terminal limiting is arranged at the two ends in the transverse movement direction, when transverse movement is conducted to the terminal position, the system can automatically conduct position correction, it is guaranteed that errors in each operation period cannot be accumulated, and transverse movement synchronization precision is guaranteed.
本发明涉及起重机控制技术领域,尤其涉及一种起重机集群同步运动控制系统及控制方法。本专利提供的一种起重机集群同步运动控制系统及控制方法,对于起升位置同步控制,采用绝对值编码器进行起升位置检测,同时通过重量传感器检测吊钩重量,用来确定吊钩触底信号,作为吊钩下降的最低位置,通过吊钩上安装的上升限位,作为吊钩上升的最高位置,保证每次上升/下降过程开始时,都会进行一次校正,消除误差累积,确保升降方向上位置的检测精度;对于横移位置控制,本单位采用UWB定位基站进行定位,同时在横移方向两端设置终端限位,当横移至终端位置时,系统会自动进行位置校正,保证每个作业周期内的误差不会发生积累,保证横移同步精度。
Crane cluster synchronous motion control system and control method
一种起重机集群同步运动控制系统及控制方法
2023-06-30
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |