The invention provides an anti-swing and positioning control method and system for a bridge crane. The anti-swing and positioning control method comprises the following steps: acquiring a motion state of the bridge crane; when the bridge crane is in a starting acceleration running state, eliminating an initial swing angle of the crane caused by inertia of a lifting appliance through an input shaping method; when the bridge crane is in a constant-speed operation state, eliminating a disturbance swing angle caused by external force disturbance in the transportation process through an angle fuzzy self-adaptive PID controller based on swing angle information of the crane; and when the bridge crane is in a decelerating operation state, eliminating a disturbance swing angle caused by external force disturbance in a transportation process and enabling the crane to run to a preset position by combining an angle fuzzy self-adaptive PID controller and a displacement fuzzy self-adaptive PID controller based on swing angle information and displacement information of the crane. And the positioning precision of the crane is ensured in the process of eliminating the swing angle by combining the displacement fuzzy self-adaptive PID controller and the angle fuzzy self-adaptive PID controller.
本发明提供了一种桥式起重机防摇摆以及定位控制方法和系统,包括:获取所述桥式起重机的运动状态;当所述桥式起重机处于起步加速运行状态时,通过输入整形法消除起重机由于吊具惯性所带来的初始摆角;当所述桥式起重机处于匀速运行状态时,基于起重机的摆角信息通过角度模糊自适应PID控制器消除运输过程外力扰动造成的扰动摆角;当所述桥式起重机处于减速运行状态时,基于起重机的摆角信息和位移信息通过结合角度模糊自适应PID控制器和位移模糊自适应PID控制器消除运输过程外力扰动造成的扰动摆角以及使所述起重机行驶到预设位置。通过结合位移模糊自适应PID控制器和角度模糊自适应PID控制器在消除摆角的过程中也保证了起重机的定位精度。
Anti-swing and positioning control method and system for bridge crane
一种桥式起重机防摇摆以及定位控制方法和系统
2024-06-07
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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