The invention provides a crane anti-swing method capable of changing a turning point or rope length, which comprises the following steps of: measuring the speed v of a cargo swinging to the lowest point through a speed sensor on a lifting hook when the cargo moves to the lowest point in a simple pendulum manner every time; according to the speed v of the lowest point, the maximum value # imgabs0 # of the inclination angle b of the lifting rope relative to the vertical direction when the cargo swings from the lowest point to the highest point, and the distance s of the horizontal displacement at the moment; whether the maximum value # imgabs 1 # of the inclination angle b is larger than 10 degrees or not is judged, and if the maximum value # imgabs 2 # is larger than 10 degrees, the crane is controlled to horizontally move for a distance s at a constant speed along with the swinging goods and then stops; if the maximum value # imgabs3 # of the inclination b is smaller than 10 degrees, the lifting rope is shrunk when the cargo swings to the angle a which is equal to # imgabs4 #/2, and the length of the lifting rope is halved; the steps are repeated, if the maximum value # imgabs5 # of the predicted inclination angle b is smaller than 3 degrees, it is judged that shaking basically disappears, and otherwise the adjusting step continues to be executed.
本发明提供了一种改变转点或绳长的起重机防摇方法,包括:每次货物做单摆运动到最低点时,通过吊钩上的速度传感器测量货物摆动到最低点时的速度v;根据最低点的速度v,货物从最低点摆动到最高点时吊绳相对垂直方向的倾斜角b的最大值#imgabs0#和此时水平位移的距离s;判断倾斜角b的最大值#imgabs1#是否大于10°,若#imgabs2#大于10°,则操纵起重机跟随正在摆动的货物水平匀速位移s距离后停止;若倾斜b的最大值#imgabs3#小于10°,则在货物摆动到角度a=#imgabs4#/2时收缩吊绳,令吊绳长度减半;重复以上步骤,若预测倾斜角b的最大值#imgabs5#小于3°,判定摇动基本消失,否则继续执行调整步骤。
Crane anti-swing method for changing turning point or rope length
一种改变转点或绳长的起重机防摇方法
2024-10-01
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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