The invention relates to a variable-curve anti-swing control method for a low-acceleration running crane. The variable-curve anti-swing control method comprises the following steps: S1, calculating a swing period T; s2, calculating a short-distance movement distance Smin; and S3, comparing the movement distance S with the short-distance movement distance Smin, if the movement distance S is smaller than Smin, controlling the crane to start movement by adopting a short-distance movement curve through the anti-swing control system, and if the movement distance S is larger than Smin, adopting a segmented acceleration and segmented deceleration mode in which the number of segments changes along with the movement distance and the swing period. Then a motion curve is judged and the maximum running speed Vmax is calculated by combining the swing period T, the moving distance S, the rated acceleration aup, the rated deceleration adw and the rated speed Vn, and finally motion is started according to the determined motion curve and the maximum running speed Vmax. According to the invention, the anti-swing function of the crane running at low acceleration can be realized, the condition of running at medium and high acceleration can also be met, and the problem that anti-swing positioning cannot be carried out under the condition that the acceleration and the deceleration cannot meet the requirements in the prior art is solved.
本发明涉及一种面向低加速度运行起重机的变曲线防摇控制方法,步骤为:S1.计算摇摆周期T;S2.计算短距离移动距离Smin;S3.比较移动距离S与短距离移动距离Smin,若移动距离S小于Smin,防摇控制系统则控制起重机采用短距离运动曲线启动运动:若移动距离S大于Smin,则采用段数随移动距离和摇摆周期变化的分段加速再分段减速的方式。而后结合摇摆周期T、移动距离S、额定加速度a_up、额定减速度a_dw、额定速度Vn,判断运动曲线并计算最大运行速度V_max,最后根据确定的运动曲线及最大运行速度V_max启动运动。本发明既能实现低加速度运行起重机的防摇功能,也能满足中高加速度运行的情况,解决了现有技术在加速度和减速度不能满足要求的情况下无法进行防摇定位的问题。
Variable-curve anti-swing control method for low-acceleration running crane
一种面向低加速度运行起重机的变曲线防摇控制方法
2024-01-05
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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