The invention relates to the technical field of engineering machinery control, in particular to a system and a method for controlling inclination deformation of an obliquely-attached tower crane. Through a four-cylinder double synchronization and nonlinear tracking algorithm, two groups of telescopically attached nonlinear synchronous extension and contraction control are realized, space complex motion logic of each component is met, additional internal force caused by deformation of a rigid structural member is avoided, and besides, a perpendicularity index of a cantilever section tower body can be tracked and corrected in real time; the problem of inclination deformation control of the obliquely-attached tower crane is solved by a safe and reliable scheme; meanwhile, the system has the functional characteristics of accuracy, controllability, automatic calibration, tracking synchronization, health diagnosis and the like, and ensures safe and stable operation of inclination deformation of the obliquely-attached tower crane.
本发明涉及工程机械控制技术领域,具体涉及一种斜附式塔机倾斜变形控制系统与控制方法。通过四缸双重同步与非线性跟踪算法,实现了两组可伸缩附着的非线性同步伸长与收缩控制,在满足各构件空间复杂运动逻辑,避免刚性结构件因变形产生附加内力外,还能够实时追踪并校正悬臂段塔身垂直度指标,以安全、可靠的方案解决了斜附式塔机倾斜变形控制难题;同时,本系统具有精准可控、自动校准、跟踪同步、健康诊断等功能特点,保障了斜附式塔机倾斜变形的安全平稳运行。
Inclined deformation control system and control method for obliquely-attached tower crane
一种斜附式塔机倾斜变形控制系统与控制方法
2024-01-09
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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