The invention relates to an unmanned crown block swing angle control method, and belongs to the technical field of metallurgy methods. According to the technical scheme, the method comprises the following steps: measuring the actual speed raising process when the coiling motor is in a no-load state, then calculating the fixed rotational inertia of the motor, then calculating the variable rotational inertia of strip coils with different coil diameters according to a rotational inertia formula, and adding the two rotational inertia to obtain the sum of the rotational inertia; and finally, the rotational inertia moment of the coiling motor is calculated according to the angular acceleration. The method has the beneficial effects that the immune clone selection algorithm and the PID control system are combined, and the swing angle of the unmanned crown block is adaptively controlled by adopting an online adjustment mode, so that the swing angle of the crown block is controlled within an allowable error range when the unmanned crown block runs; accurate stacking of the steel coils in the warehouse and safety of the steel coil transportation process are effectively guaranteed.
本发明涉及一种无人天车摆角控制方法,属于冶金方法技术领域。本发明的技术方案是:对卷取电机空载时实际的升速过程进行测量后计算出电机固定转动惯量,然后根据转动惯量的公式计算出不同卷径带卷的可变转动惯量,两者加起来得到转动惯量的总和,最终再根据角加速度计算出卷取电机转动惯量力矩。本发明的有益效果是:通过把免疫克隆选择算法和PID控制系统相结合,采用在线调整的方式对无人天车摆角进行自适应控制,把无人天车运行时的天车摆角大小控制在了误差允许范围内,有效保障了钢卷在库房内的精准码放和钢卷运输过程的安全。
Unmanned crown block swing angle control method
一种无人天车摆角控制方法
2024-01-19
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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