The invention provides an electronic anti-swing system of a gantry crane lifting appliance and an anti-swing control method in order to solve the problems that an existing electronic anti-swing system is complex to use and unstable in anti-swing effect. The system comprises a lifting appliance pose detection subsystem and an anti-swing control subsystem. The method is implemented based on the system and comprises the following steps: pre-inputting related parameters; initializing an algorithm to obtain a speed control shaping acceleration curve, a speed control shaping deceleration curve and an angle control feedback coefficient; a real-time lifting appliance pose is obtained; calculating the current target running speed of the trolley; generating a control instruction to control acceleration or deceleration of the trolley to counteract swinging of the lifting appliance; and the operation is in place. The anti-swing effect is achieved through the output speed curve shaping pre-control algorithm, the angle negative feedback control algorithm and the condition mode self-adaptive switching algorithm, the anti-swing device has the advantages of being low in cost, high in stability and universality and convenient and fast to install and debug, and the anti-swing and accurate positioning requirements in the operation process of the gantry crane can be met.
本发明为解决现有电子防摇系统使用较为繁复,防摇效果不稳定的问题,提供一种龙门吊吊具电子防摇系统及防摇控制方法。该系统包括吊具位姿检测子系统和防摇控制子系统。该方法基于前述系统实施,其包括:预输入相关参数;算法初始化,得到速度控制整形加速曲线、速度控制整形减速曲线和角度控制反馈系数;获取实时吊具位姿;计算小车当前的目标运行速度;生成控制指令以控制小车的加速或减速,抵消吊具摇摆;运行到位。本发明通过输出速度曲线整形预控制算法,角度负反馈控制算法以及条件模式自适应切换算法实现防摇效果,具有低成本,稳定性强,通用性强,安装调试方便快捷的特点,可以满足龙门吊运行过程中的防摇与精确定位需求。
Gantry crane lifting appliance electronic anti-swing system and anti-swing control method
一种龙门吊吊具电子防摇系统及防摇控制方法
2023-09-29
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |