The invention relates to the technical field of lifting control, in particular to a quay crane soft leaning box control method and system and a quay crane. The speed limiting data is calculated according to the lifting appliance swing data, so that the situation that the lifting appliance swings excessively when the trolley runs to the obstacle position is avoided. Then calculating trajectory planning data, comparing the trajectory planning data with the trajectory monitoring information to perform feedback control calculation, superposing a feedback control quantity and the trajectory planning data to obtain speed control data correspondingly output by a control mechanism, and controlling the trolley according to the speed control data when the speed control data is smaller than the speed limiting data; the swinging amplitude of the lifting appliance can be further reduced, the lifting appliance is controlled to swing within a reasonable range, and soft box leaning is achieved.
本申请涉及起重控制技术领域,具体涉及岸桥软靠箱控制方法及系统、岸桥。本申请根据吊具摇摆数据计算限速数据,以避免小车运行至障碍物位置时吊具摇摆幅度过大。然后再通过计算轨迹规划数据,通过比较轨迹规划数据和轨迹监测信息进行反馈控制计算,将反馈控制量和轨迹规划数据叠加得到操控机构对应输出的速度控制数据,速度控制数据小于限速数据时则以速度控制数据控制小车,能够进一步降低吊具摇摆幅度,控制吊具摆动在合理范围内,实现软靠箱。
Shore crane soft leaning box control method and system and shore crane
岸桥软靠箱控制方法及系统、岸桥
2024-12-13
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |