CN107215777B - A kind of anti-swing control system of crane intelligent and its accurate positioning method - Google Patents
A kind of anti-swing control system of crane intelligent and its accurate positioning method Download PDFInfo
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- CN107215777B CN107215777B CN201710573976.1A CN201710573976A CN107215777B CN 107215777 B CN107215777 B CN 107215777B CN 201710573976 A CN201710573976 A CN 201710573976A CN 107215777 B CN107215777 B CN 107215777B
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- crane
- trolley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
Abstract
The invention discloses a kind of anti-swing control system of crane intelligent and its accurate positioning methods, its device includes being arranged on boom that the mobile cart in boom direction can be prolonged, the cart is equipped with the trolley vertical with the cart direction of motion, the trolley is equipped with lifting mechanism, the lifting mechanism includes control reel and lifting rope, the bottom end of the lifting rope is equipped with suspender, it further include preventing shaking controller and monitoring input terminal, the bottom of the trolley is equipped with guiding device, the control reel is equipped with rope length measurement sensor, the guiding device, rope length measurement sensor and monitoring input terminal shake controller and are connected to anti-, it is described to prevent that shake controller is connected to the motor of cart and trolley respectively.The present invention has the advantages that it is by realizing simply using the anti-range ability shaken of open loop, the anti-operation stability shaken of raising crane and control precision, and it is highly-safe, it is advantageously implemented the intelligence and automation of crane.
Description
Technical field
The present invention relates to crane anti-swinging technology fields, and in particular to a kind of anti-swing control system of crane intelligent and its
Accurate positioning method.
Background technique
Crane is widely used in the fields such as factory floor, cargo berth, mineral mining as important logistics transportation tool
Institute, and to adapt to the quick demand of modern production, start to develop to the directions such as intelligent, digitlization and automation, work
Acceleration of starting is generally comprised as process, is traveled at the uniform speed and stopping of slowing down.The underdamping characteristic of crane makes its operating mechanism exist
Since inertia force effect inevitably will appear the beat of lifting loads in accelerator or moderating process, seriously affect
The efficiency of loading and unloading of crane, while as the high speed of crane and enlargement, the operating mechanism speed of service are accelerated, lift by crane rope length
Increase, be further exacerbated by the beat of load, increases load beat amplitude, threaten the safety of operator and surrounding devices.
Crane anti-swinging technology can control big trolley fast transportation load and reach designated position, and load beat is kept in transportational process
Angle is small as far as possible or even non-loaded beat.Therefore it, which is used as, inhibits load beat, improves crane working efficiency, realizes automatically
Change extensive concern of the key technology in workshop by domestic and international manufacturer and researchers.
Currently, crane prevents that shaking main includes that mechanical anti-shake prevents shaking two kinds with electronic type, wherein mechanical anti-shake passes through
Perhaps the design of hydraulic system increases system damping or improves system stiffness and inhibits and eliminate load for the improvement of mechanical structure
Swing, search time is longer, and technology is relatively mature, way of realization multiplicity, such as auxiliary steel wire rope formula, separation trolley
Formula, hydraulic oil cylinder type, rigid guide tube brake type, seesaw beam type, friction-clutch-type, oblique pull rope type, is handed over the cord of falling eight-shaped in Chinese steel formula
Pitch wirerope etc..However mechanically prevent shaking usually with structure is complicated, stability is poor, volume and quality are big, maintenance
Measure the deficiencies of big.Electronic type is anti-to shake using intelligent control technology, is disappeared using control theory realization and shakes anti-sway purpose, form packet
The open loop for including the controls such as input shaper, optimum control is prevented shaking and including self adaptive control, fuzzy control, ANN Control, something lost
The closed-loop control of the controls such as propagation algorithm.Present foreign applications comparative maturity is that open loop is prevented shaking, and domestic application is more mechanical
Formula is anti-to shake, and closed loop is prevented shaking since the anti-strategy that shakes is also in the explorative experiment stage, and practical application is less.
Summary of the invention
Present invention aim to be directed to the deficiency of existing apparatus, a kind of anti-swing control system of crane intelligent is provided
And its accurate positioning method, it can effectively inhibit to load beat, realize the accurate positioning of crane load, hence it is evident that improve lifting
Machine safety in operation, working efficiency and anti-shake control precision.
To achieve the above object, a kind of anti-swing control system of crane intelligent according to the present invention and its accurate positioning
Method, device include being arranged on boom that the mobile cart in boom direction can be prolonged, and the cart is equipped with and cart movement side
To vertical trolley, the trolley is equipped with lifting mechanism, and the lifting mechanism includes controlling reel and lifting rope, the lifting rope
Bottom end is equipped with suspender, further includes preventing shaking controller and monitoring input terminal, the bottom of the trolley is equipped with guiding device, the control
Reel is equipped with rope length measurement sensor, and the guiding device, rope length measurement sensor and monitoring input terminal shake control with anti-
Device connection, it is described to prevent that shake controller is connected to the motor of cart and trolley respectively.
Further, the trolley bottom is equipped with rotating base, and the guiding device is mounted on rotating base bottom surface.
Further, the direction of the guiding device and the horizontal line of lifting rope is consistent with cart traffic direction.
A kind of accurate positioning method of the anti-swing control system of crane intelligent, includes the following steps:
Step 1: crane operating parameter being set by monitoring input terminal, while rope length measurement sensor acquires lifting in real time
The rope length data of rope, and be transferred to and prevent shaking controller；
Step 2: the anti-error compensation shaken controller and complete lifting rope length obtains the length of effective lifting rope, and transmitted
Controller is shaken to anti-；
Step 3: for the anti-controller that shakes by operation, being calculated the load beat period and operating mechanism speed etc. anti-shakes control
Parameter, the final anti-controller that shakes is according to the anti-motor for shaking algorithm control cart and trolley of crane open-loop feed-forward, to run
The anti-of heavy-duty machine shakes.
Further, crane open-loop feed-forward prevents that shaking algorithm includes: in the step 3
According to crane system dynamic analysis, the relationship between load deflection angle and trolley acceleration, lifting are determined
Machine system dynamics equation are as follows:
In formula, l is that load lifting rope is long, and θ is the deflection angle being supported on vertical direction,For the acceleration of trolley.
Further, the crane open-loop feed-forward is anti-shakes algorithm further include:
Due to the movement respectively that crane movements are cart and trolley direction, then there is the characteristics of motion on cart direction will be in
It is identical on moving of car direction, therefore this anti-sway system inhibits load inclined by the movement controlled on cart and trolley direction respectively
Pendulum, realizes that the anti-of crane shakes；Crane when n pulse available based on input shaper control method using feedforward control theory
Intelligent swing-proof oscillation control system forward feedback correction receptance function u (t):
In formula, AiAnd Ai+1For i-th and the system response amplitude of i+1 pulse, tiAnd ti+1For i-th and i+1 impulse response
Response time, " " are convolution algorithm symbol, and T is the system beat period,σ is attenuation coefficient, and ζ is load beat damping ratio,
Further, it is characterised in that: the crane open-loop feed-forward is anti-to be shaken algorithm detailed process is as follows:
Assuming that load is l by rope length detection sensor measured value after stationary state raising certain altitude1, then control load
Lifting altitude h, and obtain rope length detection sensor measured value l2, then have measurement value sensor and load practical lifting altitude it
Between ratio b be5s, measurement load beat 10 are further being run under state without anti-shake by control trolley
Load beat rope length l is calculated in the time t in a period3, formula are as follows:
By l3Rope length l is measured with rope length detection sensor4It is compared to obtain the two difference DELTA l, its calculation formula is Δ l
=l4-l3；Effective rope length of load is obtained by the error compensation of load lifting rope length, in the case of realizing long change of rope
The anti-accurate control shaken of crane.
Further, in the step 3:
Anti- control parameter of shaking further includes that crane is prevented shaking distance S and deflection angle θ, in which:
The anti-determination method for shaking distance S of crane: when crane is run, according to the rope length of the lifting rope of load and cart, small
The running frequency of vehicle waves control method using crane open loop is anti-, obtains crane maximum operational speed Vmax, the speed of service
Segments n, acceleration time taThe at the uniform velocity parameters such as time t obtain every section of operation speed according to the operating mechanism speed of service of setting
V is spent, the crane in moderating process is calculated and prevents shaking distance S；The calculating of deflection angle θ: by guiding device mounting height H with it is upper
The crane for stating calculating prevents that shaking distance S input controller is calculated, and obtains formed by guiding device and load vertical direction partially
Turn angle theta.
The present invention has the advantages that it is based on the lifting rope length measurement of rope length detection sensor, mended by lifting loads rope length
Compensation method realizes the accurate measurement of load lifting rope length and accurately calculating for beat period, further passes through control crane fortune
Operation of the row mechanism in accelerator, at the uniform velocity during operation and moderating process in operation, realize load transportational process
In overall process anti-shake；In turn, the installation and guide device on crane prevents that shaking parameter calculates the inclined of guiding device according to open loop
Turn direction and angle, and carry out load intelligent positioning by emitting indication signal, realizes the accurate positioning function of crane load.
The present invention can improve the anti-operation stability shaken of crane and control precision, realize by using the anti-range ability shaken of open loop
Simply, highly-safe, it is advantageously implemented the intelligence and automation of crane.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of apparatus of the present invention；
Fig. 2, which is that cart is anti-, shakes distance and guiding device deflection angle schematic diagram；
Fig. 3 is crane speed of service schematic diagram；
Fig. 4 is control flow schematic diagram of the present invention；
Fig. 5 is crane feedforward control system schematic diagram；
Fig. 6 disappears for crane feed forward open loop anti-sway system puts schematic diagram；
Fig. 7 is that crane swing-proof control system emulates feed-forward signal pulse diagram；
Fig. 8 is that the anti-control algolithm simulation model that shakes of crane feed forward open loop loads deflection angle variation schematic diagram.
In figure: cart 1, trolley 2, lifting mechanism 3 (wherein: control reel 3.1, lifting rope 3.2, suspender 3.3), guiding device
4。
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
The anti-swing control system of a kind of crane intelligent as shown in Figures 1 to 3, device include that setting can prolong on boom
The mobile cart 1 in boom direction, the cart 1 are equipped with the trolley 2 vertical with 1 direction of motion of cart, and the trolley 2 is equipped with
Lifting mechanism 3, the lifting mechanism 3 include control reel 3.1 and lifting rope 3.2, and the bottom end of the lifting rope 3.2 is equipped with suspender 3.3,
It further include preventing shaking controller and monitoring input terminal, the bottom of the trolley 2 is equipped with guiding device 4, and 2 bottom of trolley, which is equipped with, revolves
Turn pedestal 2.1, the guiding device 4 is mounted on 2.1 bottom surface of rotating base.The guiding device 4 and the horizontal line of lifting rope 3.2
Direction it is consistent with 1 traffic direction of cart.The control reel 3.1 be equipped with rope length measurement sensor, the guiding device 4,
Rope length measurement sensor and monitoring input terminal shake controller and be connected tos with anti-, it is described prevent shaking controller respectively with cart 1 and trolley 2
Motor connection.
A kind of accurate positioning method of the anti-swing control system of crane intelligent, includes the following steps:
Step 1: crane operating parameter being set by monitoring input terminal, while rope length measurement sensor acquires lifting in real time
The rope length data of rope 3.2, and be transferred to and prevent shaking controller；
Step 2: the anti-error compensation shaken controller and complete 3.2 length of lifting rope obtains the length of effective lifting rope 3.2, and will
It, which is transferred to, prevents shaking controller；
Step 3: for the anti-controller that shakes by operation, being calculated the load beat period and operating mechanism speed etc. anti-shakes control
Parameter, the final anti-controller that shakes is according to the anti-motor for shaking algorithm control cart 1 and trolley 2 of crane open-loop feed-forward, to run
The anti-of crane shakes；
Wherein crane open-loop feed-forward prevents that shaking algorithm includes:
According to crane system dynamic analysis, the relationship between load deflection angle and 2 acceleration of trolley, lifting are determined
Machine system dynamics equation are as follows:
In formula, l is that load lifting rope is long, and θ is the deflection angle being supported on vertical direction,For the acceleration of trolley 2；
Crane open-loop feed-forward is anti-to shake algorithm further include:
Due to the movement respectively that crane movements are 2 direction of cart 1 and trolley, then there is the characteristics of motion on 1 direction of cart
Will be identical in 2 direction of motion of trolley, therefore this anti-sway system by controlling the movement suppression on cart 1 and 2 direction of trolley respectively
System load beat, realizes that the anti-of crane shakes；The available n pulse of input shaper control method is based on using feedforward control theory
When the anti-swing control system forward feedback correction receptance function u (t) of crane intelligent:
In formula, AiAnd Ai+1For i-th and the system response amplitude of i+1 pulse, tiAnd ti+1For i-th and i+1 impulse response
Response time, " " are convolution algorithm symbol, and T is the system beat period,σ is attenuation coefficient,ζ is load beat damping ratio,
Crane open-loop feed-forward is anti-to be shaken algorithm detailed process is as follows:
Assuming that load is l by rope length detection sensor measured value after stationary state raising certain altitude1, then control load
Lifting altitude h, and obtain rope length detection sensor measured value l2, then have measurement value sensor and load practical lifting altitude it
Between ratio b be5s, measurement load beat 10 are further being run under state without anti-shake by control trolley
Load beat rope length l is calculated in the time t in a period3, formula are as follows:
By l3Rope length l is measured with rope length detection sensor4It is compared to obtain the two difference DELTA l, its calculation formula is Δ l
=l4-l3；Effective rope length of load is obtained by the error compensation of load lifting rope length, in the case of realizing long change of rope
The anti-accurate control shaken of crane.
Anti- control parameter of shaking further includes that crane is prevented shaking distance S and deflection angle θ, in which:
The anti-determination method for shaking distance S of crane: when crane is run, according to the rope length and cart of the lifting rope 3.2 of load
1, the running frequency of trolley 2 waves control method using crane open loop is anti-, obtains crane maximum operational speed Vmax, operation
Speed segments n, acceleration time taThe at the uniform velocity parameters such as time t obtain every section of fortune according to the operating mechanism speed of service of setting
Scanning frequency degree v calculates the crane in moderating process and prevents shaking distance S；The calculating of deflection angle θ: by guiding device mounting height H
With the crane of above-mentioned calculating is anti-shakes distance S input controller and calculated, obtain guiding device and load vertical direction institute at
Deflection angle theta.
Such as Fig. 4~8, the present invention in actual use:
Situation one: when only cart 1 is run, according to the lifting rope 3.2 of load is long and 1 running frequency of cart, using rising
Heavy-duty machine open loop is anti-to shake control method, obtains 1 maximum operational speed V of cartymax, 1 segments n of cart1, acceleration time ta1At the uniform velocity
Time t1Etc. parameters, every section of speed of service v is obtained according to the 1 operating mechanism speed of service of cart of setting, calculates moderating process
In crane 1 anti-shake distance S1, its calculation formula is
Guiding device 4 is S with the installation deviation distance of lifting rope 3.2 in the operation plane of cart 10, guiding device 4 is installed
Height H, installation deviation distance S0Prevent shaking distance S with the crane 1 of above-mentioned calculating1Input controller is calculated, and is obtained and is led
Angle theta is deflected to formed by device 4 and load vertical direction1；
When cart 1 is to y positive axis forward movement, angle theta is deflected1Calculation formula isWhen cart 1
When semiaxis setback negative to y, angle theta is deflected1Calculation formula is
Controller is according to 1 traffic direction of cart and above-mentioned deflection angle theta1Output control signal, via series of drive device
Deflect guiding device 4 to 1 traffic direction of cart, deflection angle is above-mentioned angle theta1.Guiding device 4 launches visible instruction
Signal, when signal designation point reaches the target position of load, operator unclamps 1 control button of cart, and suspender 3.3 passes through one
Section buffer distance accurately reaches target position.
Situation two: when only trolley 2 is run, according to the lifting rope 3.2 of load is long and 2 running frequency of trolley, using rising
Heavy-duty machine open loop is anti-to shake control method, obtains 2 maximum operational speed V of trolleyxmax, 2 segments n of trolley2, acceleration time ta2At the uniform velocity
Time t2Etc. parameters, every section of speed of service v is obtained according to the 2 operating mechanism speed of service of trolley of setting, calculates moderating process
In monkey 2 anti-shake distance S2, its calculation formula is
Guiding device 4 runs the installation deviation distance S in plane with lifting rope 3.2 in trolley 20It is zero, therefore by guiding device 4
Mounting height H and the monkey 2 of above-mentioned calculating are prevented shaking distance S2Input controller is calculated, obtain guiding device 4 with
Load the formed deflection angle theta of vertical direction2, its calculation formula is
Controller is according to 2 traffic direction of trolley and above-mentioned deflection angle theta2Output control signal, via series of drive device
Deflect guiding device 4 to 2 traffic direction of trolley, deflection amplitude is above-mentioned angle theta2.Guiding device 4 emits visible instruction letter
Number, when signal designation point reaches the target position of load, operator unclamps 2 control button of trolley, and suspender 3.3 passes through one section
Buffer distance accurately reaches target position.
Situation three: when cart 1 and trolley 2 are run simultaneously, frequency is run with big trolley 2 according to the lifting rope 3.2 of load is long
Rate shakes control method using crane open loop is anti-, obtains 1 maximum operational speed V of cartymax, 1 segments n of cart1, the acceleration time
ta1At the uniform velocity time t1, 2 maximum operational speed V of trolleyxmax, 2 segments n of trolley2, acceleration time ta2At the uniform velocity time t2Deng ginseng
Number calculates separately out the crane 1 in moderating process and prevents shaking distance S1Prevent shaking distance S with trolley 22, then calculate crane
It is anti-to shake distance S3, its calculation formula is:
Guiding device 4 is S with the installation deviation distance of lifting rope 3.2 in the operation plane of cart 10, guiding device 4 is installed
Height H, installation deviation distance S0Prevent shaking distance S with the cart 1 of above-mentioned calculating1, trolley 2 is anti-shakes distance S2With crane it is anti-shake away from
From S3Input controller is calculated, and obtains guiding device 4 and the formed deflection angle theta of load vertical direction3And crane is negative
It carries the direction of motion and trolley 2 transports angular separation θ4；
Load movement direction and trolley 2 transport angular separation θ4Calculation formula is
When cart 1 is to y positive axis forward movement, angle theta is deflected3Calculation formula is
When the semiaxis setback negative to y of cart 1, angle theta is deflected3Calculation formula is
Controller is according to big 2 traffic direction of trolley and above-mentioned deflection angle theta3Output control signal, fills via series of drive
Setting first makes Rotatable base rotate by a certain angle θ to cart 1 and 2 motion vector of trolley and direction4, then drive guiding device 4 to
Cart 1 and 2 motion vector of trolley and direction deflection, deflection amplitude are above-mentioned angle theta3.Guiding device 4 launches visible instruction
Signal, when signal designation point reaches the target position of load, operator unclamps big 2 control button of trolley, and suspender 3.3 passes through
One section of buffer distance accurately reaches target position.
The beat rule being supported in the anti-rocking process of crane is as follows: crane when below by with pulse is prevented shaking process
For illustrate the anti-course of work for shaking algorithm of this feed forward open loop, and position is static after assuming load lifting, i.e., relative to vertical side
To no deflection angle.Trolley 2 starts with acceleration a first1Start Accelerating running, load is by vertical position along trolley 2
Movement opposite direction starts beat, 2 Accelerating running time of trolley ta1Afterwards with speed v1It traveling at the uniform speed, load deflection angle increases,
To T/4 again with acceleration a2Accelerating running time ta2Afterwards with v2It travels at the uniform speed, during which loads deflection angle and further increase, when
Trolley 2 is again to accelerate a when T/23Operation, while loading deflection angle and reaching maximum, 2 Accelerating running time of trolley ta3Afterwards with v3
It travels at the uniform speed, load deflection angle is gradually reduced, and at the 3T/4 moment, trolley 2 is again to accelerate a4Accelerating running loads deflection angle
Degree further decreases, as 2 Accelerating running time of trolley ta4Afterwards, load deflection angle is minimum, i.e. load is static relative to trolley 2,
Deflection angle is zero.The trolley 2 loaded in the beat period less than one is realized by the anti-control algolithm of shaking of crane feed forward open loop
Accelerator is anti-to shake, and effectively shortens crane open loop and prevents shaking distance, to improve the safety and work of the operation of crane
Make efficiency.Trolley 2 is in the inverse process that moderating process is 2 accelerator of trolley, therefore anti-process of shaking is similar, contrary.Into
One step is known that the anti-of 1 direction of cart shakes process and 2 direction of trolley anti-to shake process similar.
For the implementation process that the present invention is further explained, now by taking 1 operating condition of cart as an example, specific implementation step is such as
Under:
(1) it erection stage: is led in the axis of hoist roller in any position installation in the vertical projecting line of 2 bottom surface of trolley
To device 4, running in plane in cart 1 with the installation deviation of lifting rope 3.2 distance is S0。
(2) initial phase: crane swing-proof control system powers on, and each hardware device of control system is initialized, and opens
It is dynamic to shake state without anti-, and communication connection is established, while can be corresponding in each gear of monitoring display upper computer end input control handle
Speed, mainly cart 1, trolley 2 and each gear speed of raising.
(3) the long error compensation of lifting rope 3.2: first by control handle control load raising certain altitude, encoder is surveyed
Amount rope length is denoted as l1, lifting mechanism lifting altitude h, encoder measurement l are then controlled by upper computer end2, volume is calculated
Code device measured value and load lifting altitude ratio b；Cart 1 is further controlled respectively and trolley 2 runs 5s, while being measured respectively
To the time t in load 10 periods of beat1And t2, load beat rope length l is calculated3And l5, and rope length l is measured with encoder5
Compare to obtain its difference to be respectively Δ l1With Δ l2。
(4) the raising stage: after the completion of playing rope length error compensation, starting crane intelligent is anti-to wave control program.Simultaneously
It controls lifting mechanism and load is promoted to safe altitude.
(5) cart 1 accelerates to prevent shaking the operation phase: determining 1 Accelerating running process of cart according to crane practical situations
The every section of acceleration a of cart 1 is calculated by controller in frequency ni, acceleration time tai, the speed that travels at the uniform speed viThe at the uniform velocity time
tiControl parameter is shaken etc. anti-.When loading static, cart 1 is by static with acceleration aiAccelerated, load starts along big
The opposite direction beat that vehicle 1 moves, 1 Accelerating running time of cart ta1After start with v1It travels at the uniform speed, the time that travels at the uniform speed is t1,
Cart 1 is again with a2Accelerating running ta2After start to travel at the uniform speed, travel at the uniform speed the time be t2, then cart 1 will be with identical rule
Above-mentioned acceleration at the uniform velocity process is repeated, deflection angle is during which loaded and constantly increases, deflection angle is loaded when the T/2 moment and is reached most
Greatly, then cart 1 will be again speeded up, and load deflection angle will reduce, and be equal to T-t when the time(n-1)vWhen, load deflection angle is most
It is small, load, deflection angle zero static relative to cart 1.
(6) cart 1, which slows down, anti-shakes the operation phase: determining that cart 1 runs slowly process according to crane practical situations
The every section of acceleration a of cart 1 is calculated by controller in frequency ni, acceleration time tai, the speed that travels at the uniform speed viThe at the uniform velocity time
tiControl parameter is shaken etc. anti-.Cart 1 is by with maximum operational speed with acceleration aiSlow down, load starts along cart 1
The direction beat of movement, cart 1 run slowly time ta1After start with v1It travels at the uniform speed, the time that travels at the uniform speed is t1, cart 1 is again
It is secondary with a2Run slowly ta2After start to travel at the uniform speed, travel at the uniform speed the time be t2, then cart 1 will be repeated above-mentioned with identical rule
During which deceleration at the uniform velocity process loads deflection angle and constantly increases, deflection angle is loaded when the T/2 moment and reaches maximum, then greatly
Vehicle 1 will again speed up deceleration, and load deflection angle will reduce, and be equal to T-t when the time(n-1)vWhen, load deflection angle is minimum, bears
Carry, deflection angle zero static relative to cart 1.
(7) cart 1 is anti-shakes distance S1, guiding device 4 deflect direction and angle, θ1Calculation stages: by the maximum operation speed of cart 1
Spend Vymax, 1 segments n of cart1, acceleration time ta1At the uniform velocity time t1Etc. parameters, calculate in moderating process in the controller
Crane 1 is anti-to shake distance S1；Guiding device 4 is S with the installation deviation distance of lifting rope 3.2 in the operation plane of cart 10, will
Guiding device 4 mounting height H, installation deviation distance S0Prevent shaking distance S with the crane 1 of above-mentioned calculating1Input controller into
Row calculates, and obtains and deflects angle theta formed by guiding device 4 and load vertical direction1；
(8) load the accurate positioning stage: controller according to cart 1 move forward or back the direction of motion, export control signal to
Guiding mechanism.Guiding mechanism emits indication signal and forms instruction point on ground, and controller, which first passes through transmission device, makes rotatable bottom
Seat deflects 90 ° toward 1 traffic direction of cart, then deflects guiding mechanism to 1 direction of motion of cart, and deflection angle is in above-mentioned steps
The calculated guiding device 4 of institute and the formed deflection angle theta of load vertical direction1.It is born when operator sees that instruction point reaches
The button of crane control handle is unclamped in the target position of load at once, and cart 1, which buffers one section by even moderating process, to be prevented shaking distance
It is precisely parked in target position later.
(9) heavy-duty machine feed forward open loop swing-proof control system and the pinpoint implementation process 1~8 of load are it should be understood that be intended merely to
The whole implementation processes for illustrating this anti-swing control system, only need according to use demand in installation and debugging in practical applications
It is initially set in journey.
Above-mentioned test case is only to better illustrate the inward nature of the invention patent, can not limit application of the invention
Range.The anti-swing control system of crane feed forward open loop and crane load accurate positioning method are interpreted as based on feedforward control
Principle and input shaper are theoretical, are passed through using the long error compensating method of lifting rope 3.2 according to the practical application request of crane
Accelerate to be corrected in moderating process using n impulse response in cart 1 or trolley 2, the instruction of guiding device 4 is utilized to believe
Number, it realizes and inhibits and eliminate load beat in less than one load beat period, and complete rising for the accurate positioning function loaded
Heavy-duty machine feed forward open loop is anti-to shake control algolithm and load accurate positioning method.
Finally it is pointed out that above embodiments are only the more representational examples of the present invention.It is clear that the invention is not restricted to
Above-described embodiment, acceptable there are many deformations.It is all made to the above embodiment any simple according to the technical essence of the invention
Modification, equivalent variations and modification, are considered as belonging to the scope of protection of the present invention.
Claims (5)
1. a kind of accurate positioning method of the anti-swing control system of crane intelligent, the anti-swing control system of crane intelligent include
The mobile cart (1) in boom direction can be prolonged by being arranged on boom, and the cart (1) is equipped with vertical with cart (1) direction of motion
Trolley (2), the trolley (2) is equipped with lifting mechanism (3), and the lifting mechanism (3) includes control reel (3.1) and lifting rope
(3.2), the bottom end of the lifting rope (3.2) is equipped with suspender (3.3), it is characterised in that: further includes preventing shaking controller and monitoring input
The bottom at end, the trolley (2) is equipped with guiding device (4), and the control reel (3.1) is equipped with rope length measurement sensor, institute
It states guiding device (4), rope length measurement sensor and monitoring input terminal to shake controller with anti-and be connected to, the anti-controller that shakes is distinguished
It is connected to the motor of cart (1) and trolley (2), characterized by the following steps:
Step 1: crane operating parameter being set by monitoring input terminal, while rope length measurement sensor acquires lifting rope in real time
(3.2) rope length data, and be transferred to and prevent shaking controller；
Step 2: the anti-error compensation shaken controller and complete lifting rope (3.2) length obtains the length of effective lifting rope (3.2), and will
It, which is transferred to, prevents shaking controller；
Step 3: load beat period and operating mechanism speed is calculated by operation in the anti-controller that shakes, final to prevent shaking control
Device shakes according to the anti-motor for shaking algorithm control cart (1) and trolley (2) of crane open-loop feed-forward to run the anti-of crane；
Crane open-loop feed-forward prevents that shaking algorithm includes: in the step 3
According to crane system dynamic analysis, the relationship between load deflection angle and trolley (2) acceleration, crane are determined
System dynamics equation are as follows:
In formula,lIt is long for load lifting rope,θTo be supported on the deflection angle on vertical direction,For the acceleration of trolley (2)；
The crane open-loop feed-forward is anti-to shake algorithm further include:
Due to the movement respectively that crane movements are cart (1) and trolley (2) direction, then there are the movement rule on cart (1) direction
Rule will be identical in trolley (2) direction of motion, therefore this anti-swing control system by controlling cart (1) and trolley (2) respectively
Movement on direction inhibits load beat, realizes that the anti-of crane shakes；Input shaper controlling party is based on using feedforward control theory
Crane intelligent anti-swing control system forward feedback correction receptance function when method available n pulseu(t):
In formula,A i WithA i+1It isiWithiThe system response amplitude of+1 pulse,t iWitht i+1It isiWithi+ 1 impulse response response
Time, " " are convolution algorithm symbol,TFor the system beat period,,σFor attenuation coefficient,,To load beat damping ratio,。
2. the accurate positioning method of the anti-swing control system of crane intelligent according to claim 1, it is characterised in that: institute
State that crane open-loop feed-forward is anti-to be shaken algorithm detailed process is as follows:
Assuming that load is by rope length detection sensor measured value after stationary state raising certain altitudel 1, then control loads raising
Highlyh, and obtain rope length detection sensor measured valuel 2, then have between measurement value sensor and the practical lifting altitude of load
RatiobFor, 5s, measurement load beat are further being run under state without anti-shake by control trolley
The time in 10 periodst, load beat rope length is calculatedl 3, formula are as follows:
It willl 3Rope length is measured with rope length detection sensorl 4It is compared to obtain the two difference, its calculation formula is；Effective rope length that load is obtained by the error compensation of load lifting rope length, realizes rope length change
The anti-accurate control shaken of crane in the case of change.
3. the accurate positioning method of the anti-swing control system of crane intelligent according to claim 1 or 2, feature exist
In: in the step 3:
Anti- control parameter of shaking further includes that crane is prevented shaking distanceSAnd deflection angleθ, in which:
Crane is anti-to shake distanceSDetermination method: crane run when, according to the rope length and cart of the lifting rope (3.2) of load
(1), the running frequency of trolley (2) waves control method using crane open loop is anti-, obtains crane maximum operational speedV max 、
Speed of service segmentsn, the acceleration timet a The at the uniform velocity timet, every section of operation is obtained according to the operating mechanism speed of service of setting
Speedv, calculate the crane in moderating process and prevent shaking distanceS；
The calculating of deflection angle θ: by guiding device mounting heightHPrevent shaking distance with the crane of above-mentioned calculatingSInput controller
It is calculated, obtains guiding device and the formed deflection angle of load vertical directionθ。
4. the accurate positioning method of the anti-swing control system of crane intelligent according to claim 1, it is characterised in that: institute
Trolley (2) bottom is stated equipped with rotating base (2.1), the guiding device (4) is mounted on rotating base (2.1) bottom surface.
5. the accurate positioning method of the anti-swing control system of crane intelligent according to claim 1, it is characterised in that: institute
The direction for stating guiding device (4) and lifting rope (3.2) horizontal line is consistent with cart (1) traffic direction.
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