The invention discloses a crane positioning anti-swing closed-loop control method and system, and relates to the field of crane control. The method comprises the following steps of: firstly, respectively calculating difference values between real-time positions and target positions of the crane at a plurality of preset time points to obtain a target position trend time sequence input vector, and then arranging motor driving power values at the plurality of preset time points into a motor driving power time sequence input vector according to a time dimension; then, local time sequence feature extraction and cause-fruit time sequence interaction correlation analysis are carried out on the target position trend time sequence input vector and the motor driving power time sequence input vector to obtain motor driving-position change time sequence interaction features, and finally, based on the motor driving-position change time sequence interaction features, the motor driving-position change time sequence interaction features are obtained. And determining that the motor driving power value at the current time point should be increased, decreased or kept, so that accurate positioning and anti-swing control can be realized, and the working efficiency and safety of the crane are improved.

    本发明公开了一种起重机定位防摇摆闭环控制方法及系统,涉及起重机控制领域。其首先分别计算多个预定时间点的起重机的实时位置与目标位置之间的差值以得到目标位置趋向时序输入向量,接着将多个预定时间点的电机驱动功率值按照时间维度排列为电机驱动功率时序输入向量,然后分别对所述目标位置趋向时序输入向量和所述电机驱动功率时序输入向量进行局部时序特征提取和因‑果时序交互关联分析以得到电机驱动‑位置变化时序交互特征,最后,基于所述电机驱动‑位置变化时序交互特征,确定当前时间点的电机驱动功率值应增大、应减小或应保持,可以实现精确的定位和防摇摆控制,提高起重机的工作效率和安全性。


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    Title :

    Crane positioning anti-swing closed-loop control method and system


    Additional title:

    起重机定位防摇摆闭环控制方法及系统


    Contributors:
    ZHAO CHANG (author)

    Publication date :

    2025-02-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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