The invention discloses a crane control method and device, a crane and a storage medium, and the crane control method comprises the following steps: according to a Lagrange equation, constructing a simple pendulum dynamic model by using a hoisting weight and a suspension cable; constructing a zero-vibration differential shaping filter and an extremely insensitive shaping filter based on the simple pendulum dynamic model and a three-pulse time-delay filter; performing weighting processing on the zero-vibration differential shaping filter and the extremely insensitive shaping filter to obtain a weighted shaping filter; substituting the amplitude of the ith pulse of the weighted shaping filter and the action time of the ith pulse into a three-pulse time-delay filter to obtain a pulse sequence; and carrying out convolution on the pulse sequence and an expected acceleration signal for driving the crane trolley to run to obtain an actual acceleration signal for driving the crane trolley to run. Therefore, the control effect and robustness of the crane control method are improved.

    本申请公开了一种起重机控制方法、装置、起重机及存储介质,起重机控制方法包括:根据拉格朗日方程,利用吊重和悬索构建单摆动力学模型;基于单摆动力学模型与三脉冲时滞滤波器构建零振动微分整形滤波器与极不灵敏整形滤波器;将零振动微分整形滤波器与极不灵敏整形滤波器进行加权处理,得到加权整形滤波器;将加权整形滤波器的第i个脉冲的幅值与第i个脉冲的作用时间代入三脉冲时滞滤波器,得到脉冲序列;将脉冲序列与欲驱动起重机小车运行的期望加速度信号进行卷积,得到实际加速度信号用于驱动起重机小车运行。由此,提高了起重机控制方法的控制效果与鲁棒性。


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    Title :

    Crane control method and device, crane and storage medium


    Additional title:

    起重机控制方法、装置、起重机及存储介质


    Contributors:
    HE SHOUWEN (author) / HU YUZHI (author) / ZHAO WEIJUAN (author) / DENG XIAO (author) / ZHANG ERLING (author)

    Publication date :

    2024-06-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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