The invention discloses an automatic positioning anti-swing control method for a variable acceleration motion type crane, which is characterized in that in the operation process of the crane, the acceleration change follows a sine curve rule to form an acceleration curve, and the speed change follows a cosine curve rule to form a speed curve; and the control system of the crane determines a corresponding speed value according to the acceleration curve and the speed curve in combination with the real-time time after automatic positioning of the crane starts and the distance value between the crane and the target position, and transmits the corresponding speed value to the frequency converter to control the crane to move. The control algorithm of the control method is high in universality, can be suitable for various different application scenes of the crane, has no special requirement on the acceleration of the crane, can efficiently realize the positioning and anti-swing functions of the unmanned crane, can realize the anti-swing function of the crane during low-acceleration operation, can also meet the condition of medium-high-acceleration operation, and is high in practicability. And the swing angle of the crane reaching the target position is effectively controlled.
本发明公开一种变加速运动式起重机自动定位防摇控制方法,所述起重机在运行过程中,加速度变化遵循正弦曲线规律形成加速度曲线,速度变化遵循余弦曲线规律形成速度曲线;起重机的控制系统根据所述加速度曲线和速度曲线,结合起重机自动定位开始后的实时时间和与目标位置的距离值,确定相应的速度值输送给变频器控制起重机运动。本控制方法的控制算法通用性强,能适用起重机各种不同应用场景,对起重机的加速度无特殊要求,能够高效地实现无人起重机的定位和防摇摆功能,既能实现低加速度运行时起重机的防摇摆功能,也能满足中高加速度运行的情况,有效控制起重机到达目标位置时的摆动角度。
Automatic positioning anti-swing control method for variable acceleration motion type crane
变加速运动式起重机自动定位防摇控制方法
2024-05-28
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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