The invention discloses a self-adaptive under-actuated portal crane anti-swing and anti-top-rushing system and method, and relates to the technical field of cranes. The self-adaptive under-actuated portal crane anti-swing and anti-top-rushing system comprises a software simulation platform and a hardware simulation platform; the hardware simulation platform is provided with a control system and a vision measurement module; the software simulation platform simulates the motion trail of transporting and hoisting goods in the working scene where the actual portal machine is located, and a control simulation model, an anti-swing model and an anti-top-rushing model of the motion trail are constructed; the hardware simulation platform builds a door-seat machine transportation model based on the size of a real door-seat machine and a working scene of the real door-seat machine; and the control system is in data communication connection with the software simulation platform, and controls the movement of the portal machine transportation model based on track control parameters obtained by the control simulation model constructed by the software simulation platform, so that the simulation of the actual transportation condition of the portal machine is realized, and further the training and verification of the control simulation model, the anti-swing model and the anti-top-rushing model are completed. According to the system, the deviation self-adaptability and the transportation stability during transportation are guaranteed.

    本发明公开一种自适应欠驱动门机消摆防冲顶系统及方法,涉及起重机技术领域,包括:软件仿真平台和硬件模拟平台;硬件模拟平台配置有控制系统和视觉测量模块;软件仿真平台对现实门座机所处的工作场景下运送吊装货物的运动轨迹进行模拟,构建运动轨迹的控制仿真模型、消摆模型及防冲顶模型;硬件模拟平台基于现实门座机的尺寸及其工作场景搭建门座机运输模型;控制系统与软件仿真平台数据通信连接,基于软件仿真平台构建的控制仿真模型得到的轨迹控制参数控制门座机运输模型运动,实现对门座机现实运输情况的模拟,进而完成对控制仿真模型、消摆模型及防冲顶模型的训练和验证。本系统保证了运输时候的偏移自我适应性以及运输稳定性。


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    Title :

    Self-adaptive under-actuated portal crane anti-swing and anti-top-rushing system and method


    Additional title:

    一种自适应欠驱动门机消摆防冲顶系统及方法


    Contributors:
    SONG TAO (author) / YU CHUANHE (author) / YU XUEJIE (author) / WANG ZHIYU (author) / ZHAO FUQIANG (author) / HOU XIANWEI (author) / LI MING (author) / ZHANG CHENHAO (author) / ZHANG WENMING (author) / LI YAQIAN (author)

    Publication date :

    2025-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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