The invention discloses an anti-swing active heave compensation method and equipment for a folding arm crane and a storage medium, and relates to the technical field of ocean engineering.The method comprises the steps that before heave compensation operation is started, the anti-swing horizontal target position of a lifting point is calculated; after heave compensation operation is started, heave prediction information, rolling prediction information and pitching prediction information of the ship within target time are predicted; constructing and calculating a main arm target rotation angle and a folding arm target rotation angle according to a binary nonlinear equation set; according to the vertical spatial position conversion relation model, calculating the target displacement of active compensation required by the hydraulic winch in the vertical direction; the main arm target rotation angle, the folding arm target rotation angle and the target displacement serve as tracking targets, and control signals of a hydraulic motor/pump, a main arm hydraulic cylinder and a folding arm hydraulic cylinder are calculated; and driving the main arm, the folding arm and the winch to work according to the control signal. Interference of rolling and pitching motion on the horizontal position of a lifting point can be effectively counteracted, and the swing trend of a load is inhibited from the source.
本发明公开了一种折臂吊机防摆主动升沉补偿方法、设备及存储介质,涉及海洋工程技术领域,方法包括:启动升沉补偿作业前,计算吊点防摆的水平目标位置;启动升沉补偿作业后,预测船舶目标时间内的升沉预测信息、横摇预测信息及纵摇预测信息;构建并根据二元非线性方程组计算主臂目标转角及折臂目标转角;根据垂向空间位置转换关系模型,计算液压绞车垂向所需主动补偿的目标位移;将主臂目标转角、折臂目标转角及目标位移作为跟踪目标,计算液压马达/泵、主臂液压缸及折臂液压缸的控制信号;根据控制信号驱动主臂、折臂及绞车工作。本发明可有效抵消横摇、纵摇运动对吊点水平位置的干扰,从根源上抑制负载的摆动趋势。
Anti-swing active heave compensation method and equipment for folding arm crane and storage medium
折臂吊机防摆主动升沉补偿方法、设备及存储介质
2023-11-10
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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