The invention discloses a crane anti-swing control method and system, a storage medium and equipment. The crane anti-swing control method comprises the steps that a crane kinetic model is constructed according to structural parameters and kinetic parameters of a crane; inputting the initial position, the target position, the limited maximum speed and the limited maximum acceleration of the crane into an S-shaped track generator to obtain a plurality of groups of track curves about the displacement of a translation mechanism of the crane and the rotation angle of the crane; a plurality of groups of track curves serve as an initialized population and are sequentially input into an NSGA-II optimization algorithm, the minimum transverse swing angle and the minimum longitudinal swing angle of the crane in a crane dynamic model serve as the target, the movement limit of the crane serves as the constraint condition, the working speed and acceleration of the crane are iteratively optimized, and an optimal track curve is generated and issued to a PLC; the PLC controls the speed of the frequency converter of the crane to control the movement of the crane, so that the anti-swing control of the crane is realized. The problem of load swing in the movement process of the crane is solved, and meanwhile the working efficiency of crane operators is greatly improved.

    本发明公开了一种起重机防摇摆控制方法、控制系统、存储介质及设备,包括:根据起重机的结构参数与动力学参数构建起重机动力学模型;将起重机工作的起始位置、目标位置、限制的最大速度和最大加速度输入S形轨迹生成器中,得到若干组关于起重机平移机构的位移和起重机旋转的角度的轨迹曲线;将若干组轨迹曲线作为初始化种群,依次输入NSGA‑II优化算法中,以起重机动力学模型中起重机横向的摇摆角、起重机纵向的摇摆角最小为目标、起重机运动限位为约束条件,迭代优化起重机工作的速度和加速度,生成最优轨迹曲线下发到PLC,通过PLC对起重机变频器的速度控制,控制起重机运动,实现起重机的防摇摆控制。解决起重机运动过程中载荷摆动的问题,同时,大大提升起重机操作员的工作效率。


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    Title :

    Crane anti-swing control method, control system, storage medium and equipment


    Additional title:

    一种起重机防摇摆控制方法、控制系统、存储介质及设备


    Contributors:
    WANG HAILEI (author) / LIU GUOFANG (author) / LI QIQUAN (author) / WANG JIN (author) / LIU HANZHONG (author) / TANG YUDONG (author) / XU MENGTIAN (author) / LIU YAO (author) / ZHU XIAOCHUN (author) / TANG PENG (author)

    Publication date :

    2024-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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