The invention discloses a motion decoupling control method for unmanned driving of a tower crane. The motion decoupling control method comprises the following steps: 1) initializing a system; 2) modeling aiming at a construction site environment; 3) lifting the lifting hook at low speed to leave the ground; 4) judging whether the lifting hook is off the ground; 5) acquiring the current position and hoisting load information of a tower crane hook in real time; 6) predicting the motion of the lifting hook; 7) calculating whether the lifting hook has motion collision or not; 8) decoupling control of the movement speed of the tower crane; (9) judging whether the tower crane falls a hook at a low speed; and 10) judging whether the lifting hook is in place until the lifting hook reaches a target position. The method belongs to the technical field of automatic control of the tower crane, different motion control strategies are designed according to different characteristics of three motions of the tower crane, the unmanned control strategy of the tower crane completely meets the standard requirements of safe hoisting of the tower crane, the control problems of large inertia and response lag of the tower crane are solved, and the safety of the tower crane is improved. Tower crane vibration caused by sudden change of the movement speed of the tower crane is effectively avoided.

    本发明公开了塔机无人驾驶的运动解耦控制方法,步骤包括:1)系统初始化;2)针对施工现场环境建模;3)吊钩低速起升离地;4)判断吊钩是否离地;5)实时获取塔机吊钩当前位置及吊重信息;6)对吊钩运动进行预测;7)计算吊钩是否发生运动碰撞;8)塔机运动速度解耦控制;9)判断塔机是否低速落钩;10)判断吊钩是否到位,直到吊钩达到目标位置。本发明的方法,属于塔机自动控制技术领域,根据塔机三个运动的不同特点设计不同的运动控制策略,该塔机无人驾驶控制策略完全满足塔机安全吊装的规范要求,解决了塔机大惯性、响应滞后的控制问题,有效避免了塔机运动速度突变所导致的塔机振动。


    Access

    Download


    Export, share and cite



    Title :

    Motion decoupling control method for unmanned driving of tower crane


    Additional title:

    塔机无人驾驶的运动解耦控制方法


    Contributors:
    YANG JING (author) / SHEN JIALIN (author)

    Publication date :

    2024-03-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



    Tower crane unmanned driving system

    CHENG LINFENG / MING XINGFU / CHENG ZHI | European Patent Office | 2020

    Free access

    Unmanned driving control system and unmanned driving control method for tower crane

    FAN ZHIPING / YANG HONGJUN / MEN XINYAN et al. | European Patent Office | 2023

    Free access

    Unmanned control system of tower crane

    CHEN YUE / FENG ZHICHAO / CHANG HUAQIANG | European Patent Office | 2021

    Free access

    TOWER CRANE SIGNALING SYSTEM AND TOWER CRANE SAFE DRIVING METHOD

    IM SU JUNG / PARK DUG KEUN / LEE HYANG EE | European Patent Office | 2020

    Free access

    Automatic driving system of tower crane and tower crane

    LU WENLONG / WANG ZHEN / GUO YU et al. | European Patent Office | 2021

    Free access