The invention discloses an anti-swing control method for a variable-rope-length container crane based on phase plane trajectory planning. The anti-swing control method comprises the following steps: acquiring a permanent constant; inputting the permanent constant into a lifting control parameter calculation model, and outputting acceleration amplitudes a1 and a2 and switching time ta1, tb, ta2 and tc by the lifting control parameter calculation model; a control scheme is determined according to the lifting control parameters, the trolley is controlled according to the control scheme, and the descending control parameters in the control scheme are matched with the lifting control parameters. The method is suitable for any system which takes a step acceleration signal as input and carries out anti-swing control or alleviates oscillation to finally realize zero oscillation, the load swing angle can be controlled within a planned swing angle range, residual oscillation of the system is relieved, the residual oscillation is controlled to be below 4% of the maximum amplitude, the effectiveness of the method is displayed, and the method is suitable for popularization and application. The application prospect is good.
本发明公开了一种基于相平面轨迹规划的变绳长集装箱起重机防摇控制方法,步骤:获取常设常数;将常设常数输入提升控制参数计算模型,提升控制参数计算模型输出加速度幅值a1和a2,切换时间ta1、tb、ta2和tc;根据上述提升控制参数确定控制方案,并根据控制方案对小车进行控制,控制方案中下降控制参数与提升控制参数匹配。本发明的方法,适用于任何以阶跃加速度信号为输入,进行防摇控制或者缓解振荡最终实现零振荡的系统,可以将负载摆角控制在规划的摆角范围内,并且缓解系统的残余震荡,将残余震荡控制在最大振幅的4%以下,显示出该方法的有效性,应用前景好。
Anti-swing control method for variable-rope-length container crane based on phase plane trajectory planning
基于相平面轨迹规划的变绳长集装箱起重机防摇控制方法
2023-08-18
Patent
Electronic Resource
Chinese
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