CN102530725B - Automobile crane anti-swing control technology - Google Patents
Automobile crane anti-swing control technology Download PDFInfo
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- CN102530725B CN102530725B CN201210087166.2A CN201210087166A CN102530725B CN 102530725 B CN102530725 B CN 102530725B CN 201210087166 A CN201210087166 A CN 201210087166A CN 102530725 B CN102530725 B CN 102530725B
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Abstract
The invention discloses automobile crane anti-swing control technology; firstly a load is hoisted by hook correction technology; based on the actual conditions of the hoisted load, when the load does not swing greatly, the load is hoisted to a destination directly; during the hoisting process, mobile swing eliminating technology is adopted; after the load is hoisted, if certain swing exists as a result of wind blowing or an instable pedestal, fixed-point swing eliminating technology is adopted; the swing of the load is eliminated above the hoisting point, and then the load is hoisted to a destination; during the hoisting process, mobile swing eliminating technology is adopted; based on the actual conditions when the load is above the destination, when the load does not swing greatly, the load is laid down directly; during the laying down process, dropping trench correction technology is adopted; if certain swing exists as a result of disturbance or poor mobile swing eliminating effect during the moving process of the load, fixed-point swing eliminating technology is adopted; the swing of the load is eliminated above the destination, and then the load is laid down; during the laying down process, dropping trench correction technology is adopted, and the load is ensured to be hoisted to the destination with precision and no swing. The technology provided by the invention can effectively prevent the swing of a hoisted load of an automobile crane, and thus ensures the smooth proceeding of engineering work and personnel safety; meanwhile the adoption of the technology greatly reduces requirements for automobile crane operators.
Description
Technical field
The invention belongs to machinery, automation field, be specifically related to a kind of automobile crane anti-swing control technology.
Background technology
Hoisting crane, having another name called crane, is a kind of handbarrow that is widely used in modern factories, handling and the hauling operation in mounting site and container yard and indoor and outdoor warehouse, playing an important role aborning, is the requisite handling instrument such as factory, warehouse.
Crane can be divided into two classes according to its structure, overhead traverse crane and polar crane, and first kind crane comprises a dolly that can move in the horizontal direction, rope is arranged on dolly below and is used for lift cargo; Equations of The Second Kind is polar crane, this class crane have one can be in space rotating pedestal, wherein comprise again two kinds of structures, one is tower crane, another kind of is tappet rod type crane, is mainly mounted in movably mechanically, such as automobile or ship etc.
Car hosit is that hoisting crane is arranged on to the autotruck that universal or special car chassis top bottom-disc performance is equal to same car load gross weight, meets the technical requirements of road vehicle, thereby can on all kinds of highways, go everywhere without any hindrance here.This kind of hoisting crane generally has two control cabins that get on and off, and must stretch out supporting leg and keep stable when operation.The scope of hoisting capacity is very large, can be from 8 tons～1000 ton, and the axletree number on chassis, can be from 2～10.Output maximum, most popular crane type.
Hoisting crane is to adopt flexible rope to carry out lift cargo, in handling process, can cause swing, not only may cause the damage of goods, causes casualties, and also can reduce production efficiency, brings many-sided loss.Experienced operating personal can be controlled the position of crane and the swing of load simultaneously, but the working strength of operating personal is increasing, realizes hoisting crane automation and eliminate the significant problem that hunting of load in crane operation is domestic and international control field research.
Car hosit (telescopic boom wheel crane), in hoisting process, there will be the situation of suspension hook/load beat conventionally, and under different operating modes, beat various informative, is mainly divided into longitudinal beat, laterally beat and compound beat.Longitudinally beat refers to the beat along telescopic boom fore-and-aft direction (Y-direction) in the plane that suspension hook forms in the horizontal surface projection of telescopic boom, lifting or put down in the process of goods, due to crane arm flexural deformation, causing goods is not vertically sling or put down, and makes suspension hook and goods occur longitudinal beat.Laterally beat refers to the beat of suspension hook at crane arm left and right directions, and Telescopic crane is in the time turning round operation, because starting or the improper beat of suspension hook generation perpendicular to the left and right directions (X-direction) of weighing arm that make of braking acceleration selection.Compound beat refers to that suspension hook has not only produced longitudinal beat but also produced horizontal beat.Be difficult to like this realize the hoisting engineering that some accuracy requirements are higher, when deviation of hanging hook phenomenon is serious, will constitute a threat to personal safety and property safety.
The pendulum control method that disappears of hoisting crane is mainly divided into open loop control and the large class of closed loop control two, wherein in each class, comprises again many different control policies.Owing to utilizing different Principle Methods, the pendulum effect that disappears of various control methods, the complexity that realizes in robustness and engineering is had nothing in common with each other.As put control policy based on disappearing of input shaper, putting control policy and the pendulum control policy that disappears based on fuzzy control based on disappearing of optimal control.The pendulum control policy that disappears of other that occur is in recent years mainly to based on sliding moding structure and the research based on automatic disturbance rejection controller method.At present, the anti-sway technology of crane in bridge type is comparatively ripe, and the anti-sway technology of vehicle telescopic boom crane waits to study energetically.
According to the above, the anti-sway control problem of car hosit is urgently to be resolved hurrily.
Summary of the invention
The object of the invention is to overcome the deficiency of the anti-sway technology of automation in existing car hosit operation process, provide a kind of car hosit that is applicable in operation process, to suppress suspension hook/hunting of load phenomenon and make it the technology that rapidly decay is even eliminated, by whole handling task is decomposed, adopt different anti-pendular regimes to realize the efficient anti-sway control of each several part handling process, thereby the anti-sway control of the automation that realizes the whole lifting job of car hosit, for the technology upgrading of all types of car hosit products provides this pioneering technology, and can greatly reduce car hosit operator's working strength and requirement.
Technical scheme of the present invention is as follows: a kind of automobile crane anti-swing control technology, first adopts and hook up correction technique and mention load; According to the actual conditions of mentioning back loading, in the time that hunting of load is little, directly start toward destination handling load, in handling process, adopt the mobile pendulum technology that disappears, in the time also there is certain swing due to disturbing causes such as wind or pedestal shakinesses after load lifting, adopt and fix a point to disappear pendulum technology, above Heave Here, eliminate the swing of load, then start toward destination handling load, in handling process, adopt the mobile pendulum technology that disappears; Actual conditions while arriving top, destination according to load, in the time that hunting of load is little, directly carry out transferring of load, in decentralization process, adopt ditch correction technique, in the time also there is certain swing due to disturbance or the mobile pendulum poor effect that disappears in load moving process, adopt and fix a point to disappear pendulum technology, above destination, eliminate the swing of load, then carry out transferring of load; In decentralization process, adopt ditch correction technique, the final accurate non-oscillatory handling of proof load is to destination.
Hook up correction technique, it is the physical parameter based on telescopic boom self in the time of lifting loads, consider the weight of load, the bias of arm end after calculating lifting loads, thereby revising in advance length of boom proof load hangs ground back loading and does not occur longitudinal beat, realization hooks up anti-sway, and the physical parameter of telescopic boom self comprises deadweight, modulus of elasticity, geometry.
The mobile pendulum technology that disappears, be the continuous handling process from initial point handling to object point by load, implement anti-sway, according to handling path parameter, calculate the overhead crane control input waveform with anti-sway effect, realize and load in handling process and arrive after object point with the anti-sway algorithm of open loop, have less swing even without swinging, handling path parameter comprises initial point state, object point prediction, the valuation of hunting of load cycle and the damping coefficient of handling.
The fixed point pendulum technology that disappears, it is the load to stop the enforcement in moment anti-sway of slinging, its hunting of load information based on real-time, adopt revolution and luffing to realize by the anti-sway algorithm of closed loop feedback effective inhibition or the elimination that load two-freedom swings, real-time hunting of load information comprises longitudinal oscillation and the teeter of arm.
The ditch correction technique that falls, with hook up revise corresponding, the physical parameter based on telescopic boom self in the time placing load, consider the weight of load,, there is not longitudinal beat thereby revise in advance after length of boom proof load is placed in the bias of arm end after calculating placement load, realizes off the hook anti-sway.
A kind of automobile crane anti-swing control technology of the present invention, it is for the handling process of car hosit, anti-sway control task is resolved into " ' hooking up correction ' → ' fixed point disappear pendulum ' → ' the mobile pendulum that disappears ' → ' fixed point disappear pendulum ' → ' off the hook correction ' " five subprocess, as shown in Figure 1, " fixed point disappear pendulum " in five subprocess of described anti-sway control task depends on the swing situation loading on before and after mobile, when hunting of load little/without swinging, do not need to carry out " fixed point disappear pendulum " task, be that anti-sway control task can be implemented as four kinds of situations according to actual conditions: " hook up correction → fixed point disappear pendulum → movement pendulum → fixed point pendulum → off the hook correction that disappears that disappears ", " hook up correction → movement disappear the pendulum → off the hook correction that disappears of pendulum → fixed point ", " hook up correction → fixed point disappear pendulum → movement pendulum → off the hook correction that disappears " and " hook up correction → movement disappear pendulum → off the hook correction ".
The technical scheme of subprocess is described below.
[1] hook up correction.
In lifting process, under normal circumstances, before lifting, arm end, suspension hook and load are substantially on a straight line that is parallel to gravity direction, in the process of lifting cargo of hauling, under the effect of load, further there is elastic deformation (arm has caused and himself produced certain elastic deformation in the time focusing on not lifting loads) in arm, cause the determined straight line of arm end and suspension hook to be no longer parallel to gravity direction, therefore, if only when hauling lifting operation, load will not be vertical lifting, must make load hang ground rear hanger and longitudinal beat (Y-direction swing) appears in load.Physical parameter based on telescopic boom self in the time of lifting loads, considers the weight of load, calculates the bias of arm end after lifting loads, hangs ground back loading and does not occur longitudinal beat thereby revise in advance length of boom proof load, realize hook up anti-sway; The corrected parameter of described " hooking up correction " can determine that synopsis is stored in overhead crane control device according to crane physical parameter and load range, in the process of implementation need to be in line computation, and the mode that can table look-up by computing machine is carried out fast.
[2] the fixed point pendulum that disappears.
The requirement of " fixed point disappear pendulum " is mainly for what often occur in engineering, and crane is in the time having hung load manipulation motion, and load exists the situation of larger swing; As, crane hooks up, handling load arrives after intended target, when driver find that hunting of load is large, while being difficult to put down weight, and the pendulum that need disappear is controlled.
By load space being swung to the analysis of math modeling, in the time fixing a point to disappear pendulum control, main effective inhibition/elimination of considering the two-freedom swing that adopts revolution and luffing to realize load, does not consider to adopt the way of telescoping boom and the folding and unfolding rope pendulum of fixing a point to disappear; Therefore, in " fixed point disappear pendulum " control process, length of boom and rope lengths are generally fixed values.Its hunting of load information based on real-time, adopts revolution and luffing to realize by the anti-sway algorithm of closed loop feedback effective inhibition/elimination that load two-freedom swings; The execution of described " fixed point disappear pendulum " can increase a button and realize on hoisting crane control handle, in the time not carrying out arm end and move, presses the button and carry out " fixed point disappear pendulum " control algorithm; Described " fixed point disappear pendulum " control algorithm needs real-time hunting of load information.
[3] the mobile pendulum that disappears.
" the mobile pendulum that disappears " is the continuous handling process from initial point handling to object point by load, the operation control algorithm of system includes anti-sway control policy, to make to load in handling process and to arrive after object point, there is less swing even without swinging.
For the control policy of " the mobile pendulum that disappears ", adopt the control program of " input shaper theory ", according to handling path parameter, calculate the overhead crane control input waveform with anti-sway effect and realize and load in handling process and arrive after object point with the anti-sway algorithm of open loop, there is less swing even without swing; The arm end that the execution of described " mobile disappear pendulum " algorithm is fused to hoisting crane control handle move given in; Described " the mobile pendulum that disappears " control algorithm is without the swing information of load.
[4] off the hook correction.
The demand of " off the hook correction " and the groundwork of correction are corresponding with " hooking up correction ", when off the hook operation is not under the disposable prerequisite that realizes precise and stable off the hook, load likely produces swing, now, can realize the inhibition/elimination of hunting of load by the disappear function of pendulum of fixed point.
Physical parameter based on telescopic boom self in the time placing load, the weight of consideration load,, there is not longitudinal beat thereby revise in advance after length of boom proof load is placed in the bias of arm end after calculating placement load, realizes off the hook anti-sway; The corrected parameter of described " off the hook correction " can determine that synopsis is stored in overhead crane control device according to crane physical parameter and load range, in the process of implementation need to be in line computation, and the mode that can table look-up by computing machine is carried out fast.
Beneficial effect of the present invention is as follows.
1, the corrected parameter of described " hooking up correction " and " off the hook correction " can determine that synopsis is stored in overhead crane control device according to crane physical parameter and load range, in the process of implementation need to be in line computation, the mode that can table look-up by computing machine is carried out fast.
2, the execution of described " fixed point disappear pendulum " can increase a button and realizes on hoisting crane control handle, in the time not carrying out arm end and move, presses the button and carry out " fixed point disappear pendulum " control algorithm; Should " fixed point disappear pendulum " function can be independent of " hooking up correction ", " movement disappear pendulum " and " off the hook disappear pendulum ", be that car hosit can only increase this function, thereby operator is in the process of handling, according to the swing situation of load in handling process, load can be parked in time to aerial enforcement " fixed point disappear pendulum " when larger and eliminate hunting of load when swinging, realize efficient handling in conjunction with the handling experience of oneself and operate; Should " fixed point disappear pendulum " multifunction in the anti-sway control of crane of other types, as tower crane and portal crane etc.
3, the application of described automobile crane anti-swing control technology does not change existing hoisting crane manipulation custom, can greatly reduce working strength and the requirement of operating personal.
Accompanying drawing explanation
Fig. 1 is automobile crane anti-swing control technology procedure chart of the present invention.
Fig. 2 is that the present invention hooks up correction schematic diagram.
Fig. 3 is that crane loads on the physical model figure that space swings.
Fig. 4 is the present invention's pendulum control policy diagram of circuit of fixing a point to disappear.
Fig. 5 is that the present invention moves the pendulum control policy diagram of circuit that disappears.
Fig. 6 is off the hook correction schematic diagram of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in detail.
As shown in Figure 2, the overhead hoist of car hosit mainly comprises the luffing mechanism 3 of automobile body 1, telescopic arm 2, arm, swing type mechanism 4, retractable rope 5 and the load 6 of arm.
With anti-swing control technology, the implementation process in a complete handling process as shown in Figure 1, after handling task starts, first adopts " hooking up correction " technology to mention load to described automobile crane; According to the actual conditions of mentioning back loading, in the time that hunting of load is little, directly start toward destination handling load, in handling process, adopt " the mobile pendulum that disappears " technology, in the time also there is certain swing due to disturbing causes such as wind or pedestal shakinesses after load lifting, adopt " fixed point disappear pendulum " technology, above Heave Here, eliminate the swing of load, then start, toward destination handling load, in handling process, to adopt " the mobile pendulum that disappears " technology; Actual conditions while arriving top, destination according to load, in the time that hunting of load is little, directly carry out transferring of load, in decentralization process, adopt " ditch correction falls " technology, in the time also there is certain swing due to disturbance or " mobile disappear pendulum " poor effect in load moving process, adopt " fixed point disappear pendulum " technology, above destination, eliminate the swing of load, carry out again transferring of load, in decentralization process, adopt " ditch correction falls " technology, the final accurate non-oscillatory handling of proof load is to destination.
[1] hook up correction.
Concrete solution, as shown in Figure 2.Suppose that front arm 2 initial conditions of lifting are OA, in theory in the time only carrying out rope 5 lifting operation under the effect of arm 2 in load because elastic deformation will become OB, promote this moment, the swing of load will inevitably be caused, promote for fear of out of plumb, arm 2 need to be adjusted to OD position by the state under load effect, arm 2 ends are positioned on straight line AC.Guarantee that arm 2 ends are positioned on straight line AC, can calculate curve OB based on arm 2 initial position OA, arm 2 physical parameters (deadweight, modulus of elasticity, geometry etc.) and the quality m of load 6, can obtain curve OD by the mode of steeve weighing arm 3 and/or contraction arm 2 like this, thereby realize " hooking up correction ", complete the anti-sway control hooking up.
Wherein, the out of plumb lifting situation that hooks up directions X in process can be carried out automatic calibration by the swing type mechanism of crane 4 " relaxed state ".
[2] the fixed point pendulum that disappears.
Fig. 3 physical model that to be crane load 6 swing in space, load 6 in the swing in space can be with arm 2 planes pivot angle (being longitudinal oscillation, Y-direction pivot angle) and plane outward pivot angle (being teeter, directions X pivot angle) describe.The quality of getting load 6 is, arm 2 length are, rope length is, the angle of establishing arm 2 planes and crane body axis horizontal X axle is angle of revolution, and the angle of arm 2 and vertical Z axis is pitch angle.Ignore and contain after the above higher order term of load movement secondary, the math modeling that can obtain system is:
In formula,
From math modeling, can find out: the swing of load and the swing type mechanism of crane system 4, luffing mechanism 3, telescoping boom 2 and the several motions of rope 5 folding and unfolding are coupled, and control inputs is also the nonlinear combination about revolution and luffing.In the time that the pendulum of fixing a point to disappear is controlled, main effective inhibition/elimination of considering the two-freedom swing that adopts revolution and luffing to realize load, does not consider to adopt the way of telescoping boom 2 and folding and unfolding rope 5 pendulum of fixing a point to disappear; Therefore, in " fixed point disappear pendulum " control process, arm 2 length and rope 5 length are generally fixed values.
According to the swinging track that loads on space, implement the swash angle position feedback that postpones based on the oscillation period of load, effective fixed point that can adopt Nonlinear Delay controller to realize crane system pendulum that disappears, control system block diagram is as shown in Figure 4.
It should be noted that " fixed point disappear pendulum " must will have the real time information of the X-Y two-freedom swing state loading in space.In addition, fixed point disappears to put and requires load space swing environment to have certain anti-sway allowance, there is certain distance in load apart from ground or peripheral obstacle, to guarantee crane arm 3 in longitudinal anti-sway luffing or/and load 6 can kiss the earth or other obstacle in horizontal anti-sway gyroscopic movement.
[3] the mobile pendulum that disappears.
The mobile pendulum that disappears can adopt the control program of " input shaper theory ", according to the initial point state of handling, object point prediction, the valuation of hunting of load cycle and damping coefficient, the control inputs signal of design revolution and pitching, to reach actv. " the mobile pendulum that disappears ", control system principle as shown in Figure 5.This control method does not need real-time detection hunting of load state in moving process, but needs to understand swing state and the movement tendency of load before movement, and before movement, load is substantially without swing (can by fixed point disappear the realization of pendulum function).
Mobile disappear pendulum control policy in implementation process without input target location, the target input in Fig. 5 can be set startup and danger signal can be realized by the walking information providing on existing crane control handle in program.
[4] off the hook correction.
The demand of " off the hook correction " and the groundwork of correction are corresponding with " hooking up correction ", as shown in Figure 6, according to actual handling duty parameter, to arrive the OA state of target location moment arm 2 and put down the OB state after load 6, after calculating, be modified to OD state, thereby realize off the hook correction, stablize accurately load placed is arrived to destination.
Claims (5)
1. an automobile crane anti-swing control technology, is characterized in that:
First adopt and hook up correction technique and mention load;
According to the actual conditions of mentioning back loading, in the time that hunting of load is little, directly start toward destination handling load, in handling process, adopt the mobile pendulum technology that disappears, in the time also there is certain swing due to wind or the unstable disturbing cause of pedestal after load lifting, adopt and fix a point to disappear pendulum technology, above Heave Here, eliminate the swing of load, then start toward destination handling load, in handling process, adopt the mobile pendulum technology that disappears;
Actual conditions while arriving top, destination according to load, in the time that hunting of load is little, directly carry out transferring of load, in decentralization process, adopt ditch correction technique, in the time also there is certain swing due to disturbance or the mobile pendulum poor effect that disappears in load moving process, adopt and fix a point to disappear pendulum technology, above destination, eliminate the swing of load, then carry out transferring of load;
In decentralization process, adopt ditch correction technique, the final accurate non-oscillatory handling of proof load is to destination;
the described correction technique that hooks up, be the physical parameter based on telescopic boom self in the time of lifting loads, consider the weight of load, the bias of arm end after calculating lifting loads, hang ground back loading and do not occur longitudinal beat thereby revise in advance length of boom proof load, realize hook up anti-sway;
The described movement pendulum technology that disappears, be the continuous handling process from initial point handling to object point by load, implement anti-sway, according to handling path parameter, calculate the overhead crane control input waveform with anti-sway effect, realize and load in handling process and arrive after object point with the anti-sway algorithm of open loop, there is less swing even without swinging;
The described fixed point pendulum technology that disappears, is the hunting of load information based on real-time, adopts revolution and luffing to pass through the swing of the anti-sway algorithm control load of closed loop feedback two-freedom.
2. automobile crane anti-swing control technology according to claim 1, is characterized in that: the physical parameter of described telescopic boom self comprises deadweight, modulus of elasticity, geometry.
3. automobile crane anti-swing control technology according to claim 1, is characterized in that: described handling path parameter comprises initial point state, object point prediction, the valuation of hunting of load cycle and the damping coefficient of handling.
4. automobile crane anti-swing control technology according to claim 1, is characterized in that: described real-time hunting of load information comprises longitudinal oscillation and the teeter of arm.
5. automobile crane anti-swing control technology according to claim 1, it is characterized in that: described in the ditch correction technique that falls, correction is corresponding with hooking up, physical parameter based on telescopic boom self in the time placing load, consider the weight of load,, there is not longitudinal beat thereby revise in advance after length of boom proof load is placed in the bias of arm end after calculating placement load, realizes off the hook anti-sway.
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| CN102795544B (en) * | 2012-08-16 | 2014-05-07 | 南开大学 | Online trajectory planning based efficient bridge crane swing elimination control method |
| CN106276617B (en) * | 2016-08-29 | 2018-01-16 | 徐州重型机械有限公司 | A kind of crane rotation braking early warning system and method |
| JP7151223B2 (en) * | 2018-07-09 | 2022-10-12 | 株式会社タダノ | Cranes and crane control methods |
| CN108919652B (en) * | 2018-10-10 | 2021-07-27 | 北京工商大学 | Adaptive anti-interference shaping control method and system |
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| FR2939783B1 (en) * | 2008-12-15 | 2013-02-15 | Schneider Toshiba Inverter | DEVICE FOR CONTROLLING THE DISPLACEMENT OF A LOAD SUSPENDED TO A CRANE |
| CN101659379B (en) * | 2009-08-27 | 2012-02-08 | 三一汽车制造有限公司 | Method, system and device for controlling deviation of hanging hook |
| CN101723239B (en) * | 2009-11-20 | 2012-05-02 | 三一汽车制造有限公司 | Hanging hook attitude detection device and crane |
| CN102107819B (en) * | 2010-12-09 | 2012-08-08 | 河南科技大学 | Anti-shaking control method for container shore bridge hanger |
| CN102009914B (en) * | 2010-12-21 | 2012-12-05 | 三一汽车起重机械有限公司 | Lifting hook position monitoring system and method as well as crane with lifting hook position monitoring system |
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