The invention discloses a weight equivalent pendulum length detection method for anti-swing control. The weight equivalent pendulum length detection method comprises the following steps: lifting a lifting appliance on which a weight is hung to an upper limit position of a lifting mechanism; measuring a first swing period of the weight at the upper limit position, and obtaining a first equivalent swing length based on the first swing period; the lifting appliance with the heavy object is descended to a stop position away from the ground by a preset distance, and a position deviation value relative to an upper limit position is obtained and obtained based on the real-time speed of the descending action; measuring a second swing period of the weight at the stop position, and obtaining a second equivalent swing length based on the second swing period; the equivalent pendulum length change speed is obtained based on the descending action real-time speed, the first equivalent pendulum length, the position deviation value and the second equivalent pendulum length; and obtaining the real-time equivalent pendulum length of the weight based on the equivalent pendulum length change speed. The problem that an existing detection method cannot accurately detect the equivalent pendulum length of a heavy object hoisted by a crane in real time is solved.
本发明公开了一种用于防摇控制的重物等效摆长检测方法,包括:将挂有重物的吊具上升至起升机构上限位置;测量重物在上限位置的第一摇摆周期,基于第一摇摆周期得到第一等效摆长;将挂有重物的吊具下降到距离地面预设距离的停止位置,获取并基于下降动作实时速度得到相对于上限位置的位置偏差值;测量重物在停止位置的第二摇摆周期,基于第二摇摆周期得到第二等效摆长;基于下降动作实时速度、第一等效摆长、位置偏差值和第二等效摆长得到等效摆长变化速度;基于等效摆长变化速度得到重物的实时等效摆长。解决了现有检测方法无法精准实时检测起重机所吊重物等效摆长的问题。
Heavy object equivalent pendulum length detection method for anti-swing control
一种用于防摇控制的重物等效摆长检测方法
2023-11-07
Patent
Electronic Resource
Chinese
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