The invention discloses a gantry crane anti-swing control method based on trajectory planning and acceleration and deceleration control, a storage medium and equipment. The movement process is modified into an improved S-shaped curve according to the starting point and the ending point of movement of a gantry crane, wherein the improved S-shaped curve comprises an acceleration section, a uniform acceleration section, a deceleration section, a uniform speed section, an acceleration and deceleration section, a uniform speed deceleration section and a deceleration and deceleration section; estimating a swing period according to the length from an elephant nose beam on the gantry crane to a hoisted object, and adjusting the time of a deceleration acceleration section and a deceleration deceleration section according to the swing period; and the maximum swing angle value of the hoisted object is detected in real time in each swing period of the constant-speed section, and acceleration and deceleration control is carried out until the hoisted object enters the acceleration and deceleration section. Compared with an existing anti-swing control algorithm, the method has the advantages that better anti-swing control can be realized, and the stability and the safety of the gantry crane are enhanced. The control method provided by the invention is simple, easy for engineering application and strong in anti-interference performance, and has a very wide engineering application prospect.

    本发明公开了一种基于轨迹规划和加减速控制的门座起重机防摆控制方法、存储介质及设备,根据门座起重机运动的起点和终点将运动过程修改为改进的S型曲线:加加速段、匀加速段、减加速段、匀速段、加减速段、匀减速段和减减速段;根据门座起重机上象鼻梁到吊物的长度估计摆动周期,根据摆动周期调整减加速段和减减速段的时间;在匀速段的每一个摆动周期内实时检测吊物的最大摆角值,进行加减速控制,直至进入加减速段。与已有的防摆控制算法相比,可以实现更优的消摆控制,增强门座起重机的稳定性和安全性。本发明的控制方法简单,易于工程实用,抗干扰性强,具有十分广阔的工程应用前景。


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    Title :

    Gantry crane anti-swing control method based on trajectory planning and acceleration and deceleration control, storage medium and equipment


    Additional title:

    一种基于轨迹规划和加减速控制的门座起重机防摆控制方法、存储介质及设备


    Contributors:
    WAN JINQI (author) / SHE ZHONGJIAN (author) / DAI YIBIN (author) / LI ZHAOYUN (author) / DONG MIN (author) / YANG KAI (author) / TANG YUDONG (author) / LIU HANZHONG (author) / TANG PENG (author) / ZHU XIAOCHUN (author)

    Publication date :

    2024-04-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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