The invention provides a crane slewing mechanism load anti-swing control method, system and equipment, electronic equipment and a storage medium. The crane slewing mechanism load anti-swing control method comprises the following steps that S1, the rope length, the initial slewing speed and the preset slewing speed of a steel wire rope are obtained; s2, based on the rope length of the steel wire rope, the swing period of the steel wire rope when the swing mechanism starts to rotate is calculated; s3, based on the initial rotation speed, the preset rotation speed and the swing period of the steel wire rope, a motion plan in the swing period is determined, and the motion plan comprises a plurality of acceleration and deceleration time and target rotation speeds in one-to-one correspondence with the acceleration and deceleration time; and S4, controlling the driving motor to drive the slewing mechanism to operate based on the motion plan so as to realize load anti-swing of the slewing mechanism. According to the load anti-swing control method of the crane slewing mechanism, the crane load anti-swing can be realized with low cost and high efficiency.

    本发明提供一种起重机回转机构负载防摇控制方法、系统、设备、电子设备及存储介质。其中,起重机回转机构负载防摇控制方法,包括如下步骤:S1、获取所述钢丝绳的绳长、初始回转速度以及预定回转速度;S2、基于所述钢丝绳的绳长,计算所述钢丝绳在所述回转机构启动回转时的摆动周期;S3、基于所述钢丝绳的初始回转速度、预定回转速度以及摆动周期,确定在所述摆动周期内的运动规划,所述运动规划包括多个加减速时间以及与其一一对应的目标回转速度;S4、基于所述运动规划控制所述驱动电机驱动所述回转机构运行,以实现所述回转机构的负载防摇。根据本发明实施例的起重机回转机构负载防摇控制方法,能够低成本高效率地实现起重机负载防摇。


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    Title :

    Load anti-swing control method, system and equipment for slewing mechanism of crane


    Additional title:

    一种起重机回转机构负载防摇控制方法、系统及设备


    Contributors:
    ZHU CHENRONG (author) / DONG CHUN (author) / WANG MIN (author) / WANG JIAJUN (author) / TANG ZHONGLIN (author) / NI WEIRONG (author) / YANG PEIMIN (author)

    Publication date :

    2023-09-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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