The invention relates to the field of intelligent tower cranes, and provides a crane control method and system based on operation intention recognition. The tower crane experiment platform comprises a pillar, a rotating arm is arranged at the upper end of the pillar, a trolley is arranged on the rotating arm, the bottom of the trolley is connected with one end of a lifting rope, and the other end is connected with a distributed mass load; the controller comprises a first MPC controller and a second MPC controller, and the first MPC controller is used for processing the received operation instruction and outputting a control instruction for controlling the trolley/rotating arm to move in combination with data collected by the sensor; the second MPC controller is used for processing the received operation instruction, generating a target position reference track in combination with the current position of the trolley/rotating arm, and outputting a control instruction for controlling the positioning of the trolley/rotating arm by taking the minimum cost function as a target; and a control instruction for controlling the movement of the trolley/rotating arm and a control instruction for controlling the positioning of the trolley/rotating arm are sent to the actuator so as to complete the execution of the corresponding instructions.
本发明涉及智能塔式吊车领域,提供了一种基于操作意图识别的起重机控制方法与系统。系统包括塔吊实验平台包括支柱,支柱上端设有旋臂,旋臂上设有小车,小车底部连接吊绳的一端,另一端连接分布式质量负载;控制器,包括第一MPC控制器和第二MPC控制器,第一MPC控制器,用于对接收的操作指令进行处理,结合传感器采集的数据,输出控制小车/旋臂运动的控制指令;第二MPC控制器用于对接收的操作指令进行处理,结合小车/旋臂的当前位置,生成目标位置参考轨迹,以成本函数最小为目标,输出控制小车/旋臂定位的控制指令,并将控制小车/旋臂运动的控制指令和控制小车/旋臂定位的控制指令发送到执行器,以完成相应指令的执行。
Crane control method and system based on operation intention recognition
一种基于操作意图识别的起重机控制方法与系统
2024-03-15
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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