The invention discloses an active control method for swinging suppression of a hoisted object under a crane ship-hoisting system, the crane ship-hoisting system comprises a crane ship and a crane mounted on the crane ship, the crane suspends the hoisted object through a hoisting rope, one end of the hoisting rope is connected to a control mechanism, the control mechanism is mounted at the top end of a hoisting rod of the crane, and the hoisting rod is connected to the hoisting rope. The other end of the lifting rope is connected with goods, the control mechanism comprises an execution assembly, a feedback device and a driving mechanism, the feedback device is used for sending a control instruction to the driving mechanism, the driving mechanism drives the execution mechanism based on the received control instruction, and the active control method comprises the following steps that 1, a dynamic response equation of the lifting object in the state that the lifting object is hung is determined; and step 2, based on the dynamic response equation, changing the position of an end point through a control instruction output by a feedback device so as to achieve swing suppression. According to the invention, active control of swinging and heaving motion of the hanging object under the condition that the end point is excited by three degrees of freedom is realized, and the purpose of suppressing swinging is achieved.
本发明公开一种起重船-吊物系统下对吊物抑摆的主动控制方法,起重船-吊物系统包括起重船,以及安装在起重船上的吊机,吊机通过吊绳悬吊吊物,吊绳的一端连接控制机构上,控制机构安装在在吊机的吊杆顶端上,吊绳的另一端连接货物,控制机构包括执行组件、反馈器和驱动机构,反馈器用于向驱动机构发送控制指令,驱动机构基于接收到的控制指令,驱动执行机构,主动控制方法包括以下步骤:步骤1:确定悬挂有吊物状态下的吊物的动力响应方程;步骤2:基于所述动力响应方程,通过反馈器所输出的控制指令,改变端点的位置,以达到抑摆。本发明实现端点在三自由度激励情况下吊物摆动和升沉运动的主动控制,达到抑摆的目的。
Active control method for swinging suppression of hoisted object under crane ship-hoisted object system
一种起重船-吊物系统下对吊物抑摆的主动控制方法
2024-01-23
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Stable hoisting crane capable of preventing hoisted goods from swinging
European Patent Office | 2021
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