The invention discloses an anti-swing control method for a tower crane, which comprises the following steps of: 1, actually measuring tower crane data, and establishing a gear model; 2, establishing a physical and mechanical model of the tower crane based on a Lagrange equation; 3, according to the actual gear operation condition of the tower crane, the swinging direction and the swinging amplitude of the hook when the tower crane rotates and the variable-amplitude trolley stops moving are predicted; and 4, based on the swing direction and the swing amplitude of the hook after the tower crane stops moving, the swing of the hook is actively controlled through an anti-swing hook stabilizing control strategy. The invention relates to the technical field of tower crane construction, and can solve the problems of high mechanical anti-swing cost and low electric anti-swing control precision and control efficiency of a tower crane in the prior art.
本发明公开了一种塔式起重机防摆控制方法,包括以下步骤:步骤1:实测塔吊数据,建立挡位模型;步骤2:基于拉格朗日方程建立塔吊的物理力学模型;步骤3:按照塔吊的实际挡位运行情况,预测塔吊回转和变幅小车停止运动时挂钩的摆动方向和摆动幅度;步骤4:基于塔吊停止运动之后挂钩的摆动方向和摆动幅度,通过防摆稳钩控制策略主动控制挂钩的摆动。本发明涉及塔吊施工技术领域,能够解决现有技术中塔式起重机机械防摆成本高、电气防摆控制精度和控制效率低的问题。
Anti-swing control method for tower crane
塔式起重机防摆控制方法
2025-01-07
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Tower crane luffing mechanism real-time anti-swing control method and anti-swing device
European Patent Office | 2020
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