The invention discloses an anti-swing steady-speed control method for a crane, which belongs to the technical field of crane control, by monitoring a left limiting signal, a right limiting signal and a real-time speed signal of a trolley in real time, when any limiting sensor detects that the swing of the trolley exceeds a limited angle theta, the output of the left limiting signal of the trolley is-1 or the output of the right limiting signal of the trolley is 1; when it is detected that the real-time speed of the trolley exceeds the vehicle speed limit range, the output real-time speed signal is 1, the anti-swing acceleration acom of the trolley is calculated according to a formula so that the load deflection angle in the transportation process can be restrained, even no load deflection exists, and the steady-speed acceleration aref is calculated to control the speed in the load transportation process to be stabilized within the standard range. The load can quickly reach a specified area; according to the invention, the positioning is accurate, the working intensity of operators is reduced, and the safety and the production efficiency are improved.
本发明公开一种起重机防摇摆稳速控制方法,属于起重机控制技术领域,通过实时监测小车左限位信号、右限位信号、实时速度信号,当任一限位传感器检测到小车摇摆超过限定角度θ,小车左限位信号输出为‑1或右限位信号输出为1,当检测到小车实时速度超出车速限定范围,输出实时速度信号为1,根据公式计算小车防摇摆加速度acom可以抑制运输过程中负载偏摆角度,甚至无负载偏摆,计算稳速加速度aref控制负载运输过程中的速度稳定在标准范围内,可以使得负载快速到达指定区域;本发明能够定位精准、减少操作人员工作强度,提高安全性和生产效率。
Anti-swing steady-speed control method for crane
一种起重机防摇摆稳速控制方法
2023-09-22
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Anti-swing control system of crane and anti-swing control method
European Patent Office | 2015
|