The invention relates to the field of mechanical equipment, and discloses a cantilever crane driving control method, device and system, a cantilever crane comprises a fixed support, a driving motor and a rotating arm driven by the driving motor, the rotating arm bears a load, and the method comprises the steps that when the target angular speed and the overturning direction information of the rotating arm are obtained, the rotating arm is driven by the driving motor to rotate; acquiring a preset angle between the rotating arm and the fixed bracket; determining a predetermined angular velocity according to the predetermined angle; according to the preset angular velocity, the target angular velocity and the overturning direction, the transformation relation between the angle and the maximum angular acceleration of the rotating arm is determined; the dynamic adjustment step of the driving motor is repeatedly executed until the rotating arm reaches the target angular speed; the step comprises the following steps: acquiring a current angle; according to the transformation relation, the current angle, the weight of the rotating arm bearing the load, the length of the rotating arm and the maximum torque capable of being borne by the arm frame, the current maximum angular acceleration is determined; and controlling the driving motor according to the current maximum angular acceleration. According to the method, start-stop impact can be reduced, and operation stability and efficiency are improved.
本公开涉及机械设备领域,揭示了一种臂架的驱动控制方法、装置及臂架驱动控制系统,臂架包括固定支架、驱动马达和由驱动马达驱动的转臂,转臂承载有负载,该方法包括:当获取到目标角速度和转臂的翻转方向信息,获取转臂与固定支架的预定角度;根据预定角度确定预定角速度;根据预定角速度、目标角速度和翻转方向,确定角度与转臂最大角加速度的变换关系;重复执行驱动马达的动态调节步骤,直至转臂达到目标角速度;该步骤包括:获取当前角度;根据变换关系、当前角度、承载有负载的转臂的重量、转臂的长度和臂架能承受的最大力矩,确定当前最大角加速度;根据当前最大角加速度控制驱动马达。此方法能够降低启停冲击,提高运行的平稳性和效率。
Cantilever crane driving control method and device and cantilever crane driving control system
臂架的驱动控制方法、装置及臂架驱动控制系统
2025-03-28
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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