CN107381352A - A kind of acceleration time adjustable crane is anti-to shake control method - Google Patents
A kind of acceleration time adjustable crane is anti-to shake control method Download PDFInfo
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- CN107381352A CN107381352A CN201710826964.5A CN201710826964A CN107381352A CN 107381352 A CN107381352 A CN 107381352A CN 201710826964 A CN201710826964 A CN 201710826964A CN 107381352 A CN107381352 A CN 107381352A
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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
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
-
- 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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N7/00—Computing arrangements based on specific mathematical models
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- Control And Safety Of Cranes (AREA)
Abstract
Prevent shaking control method the invention discloses a kind of adjustable crane of acceleration time, mathematical modeling including establishing lift heavy pivot angle, design the acceleration signal of crane, unknowm coefficient is included in the acceleration signal, design maximal rate and the acceleration time of crane, solve the unknowm coefficient of crane acceleration signal, make the acceleration signal of design at the end of the acceleration time, the amplitude of the lift heavy Residual oscillations of input shaper controller is zero, and final crane acceleration signal is inputted to shaping controller.The present invention can be directed to different operating modes, select suitable acceleration time and maximum operational speed, and crane is controlled with reference to lift heavy pendulum length design shaping controller, realizes that lift heavy zero is swung when accelerating and completing, further increases the operating efficiency of crane.
Description
Technical field
Prevent shaking control method the present invention relates to a kind of adjustable crane of acceleration time, belong to crane control technology neck
Domain.
Background technology
Crane is usually utilized to perform important, challenging behaviour as a kind of important material conveyance equipment
Make task, such as build bridge, dam and high-rise high building etc..Under normal circumstances, crane can quickly, it is steady, accurately transport
Weight.But crane can cause the swing of lift heavy by a relatively large margin in startup and braking procedure, these swings may be to production
Process causes very big danger, causes production process delay or maintenance cost increase.
The main target of crane control research is that Residual oscillations are reduced or eliminated at the end of handling process, reduces adjustment
Time and enhancing safe operating conditions.Researcher attempts to realize these targets by various control technologies.Wherein, feedback control
System is widely adopted due to having robustness to the uncertainty of system.However, one of major defect of feedback control is exactly
The physical arrangement of change system is needed, increases extra sensor or executive component.Another control method is opened loop control, generation
Table is exactly input shaper technology, and this method, which is hardly used existing system, to be changed, therefore is widely used in crane etc.
The vibration suppression of flexiblesystem.
Input shaper method is by the reference command of normal use, and within the regular hour, convolution is carried out to a series of pulses,
Residual oscillations are reduced by repeatedly accelerating.In traditional input shaper method, the cycle of pulse train is fixed, it is necessary to matching system
The modal parameter of system, the cycle of heavy dependence system.Reference instruction is generally constant, is instructed by the shaping obtained by convolutional calculation
It is a series of jump functions, frequently step accelerates executive component will be caused to shake, and these phenomenons are executive component energy impacts
Performance, the performance and used life to executive component is all unfavorable factor.With the development of electronic speed-regulating circuit, S curve, three
The smoothness propertieses such as angle function, Gaussian function and cam multinomial are used for input shaper.These characteristics introduce LPF effect
Should, residual oscillation is greatly decreased, but also result in very big ramp time penalties simultaneously.
The content of the invention
The technical problems to be solved by the invention are the defects of overcoming prior art, there is provided a kind of adjustable of acceleration time
Heavy-duty machine is anti-to shake control method, it is allowed to the duration of unrestricted choice boost phase and design maximum speed, is set with reference to lift heavy pendulum length
Shaping controller is counted, realizes that transport process terminates lift heavy zero and swung, further increases the operating efficiency of crane.
In order to solve the above technical problems, the present invention provides, a kind of acceleration time adjustable crane is anti-to shake control method, wraps
Include following steps：
1) mathematical modeling of lift heavy pivot angle is established；
2) acceleration signal of crane is designed；
3) according to the maximal rate of crane and acceleration time, the unknowm coefficient of solution crane acceleration signal；
4) final crane acceleration signal is inputted to shaping controller.
Foregoing step 1), the mathematical modeling of lift heavy pivot angle are：
Wherein, θ is the pivot angle of lift heavy, and u is the displacement of monkey,For monkey acceleration, l is lift heavy steel
The length of cord, g are acceleration of gravity,
When the length of lift heavy steel wire rope is constant, the mathematical modeling of lift heavy pivot angle is reduced to：
Wherein,Natural frequency is swung for lift heavy.
Foregoing step 2), the acceleration signal for designing crane are：
Wherein, τ is the acceleration time, and t is time variable, and A, B are unknowm coefficient.
Foregoing coefficient A solution procedure is：To the acceleration signal of the crane of the step 2) designWhen accelerating
It is interior to be integrated, draw the maximum of crane speed：vmax=A τ,
According to the maximal rate of crane and acceleration time, determine that constant A is：
The solution procedure of foregoing coefficient B is：
5-1) under zero initial condition, by the acceleration signal of the crane of the step 2) designSubstitute into lift heavy pivot angle
Simplify and obtained in mathematical modeling：
Wherein, θ (t) is the lift heavy pivot angle changed with time t.
T=τ 5-2) are taken, draw the lift heavy pivot angle θ at τ momentτ：
Derivation 5-3) is carried out to lift heavy pivot angle θ (t), t=τ is taken, draws the lift heavy angular speed at τ moment
5-4) at the end of acceleration time τ, the amplitude AMP of lift heavy Residual oscillations is：
It is required that AMP=0, then
WillWithSubstitute into the remaining pendulum of lift heavy
In dynamic amplitude AMP, obtain：
BecauseThen：
Foregoing final crane acceleration signal is：
The beneficial effect that the present invention is reached：
The present invention can be directed to different operating modes in crane control system, select suitable acceleration time and maximum fortune
Scanning frequency degree, crane is controlled with reference to lift heavy pendulum length design shaping controller, realizes that lift heavy zero is swung when accelerating and completing,
Further increase the operating efficiency of crane.
Brief description of the drawings
Fig. 1 is craning weight of same schematic diagram；
Fig. 2 is crane control schematic diagram；
Fig. 3 is input shaper controller principle figure；
Lift heavy pivot angle response when Fig. 4 is in emulation, takes τ=1s.
Embodiment
The invention will be further described below.Following examples are only used for the technical side for clearly illustrating the present invention
Case, and can not be limited the scope of the invention with this.
Craning weight of same schematic diagram as shown in Figure 1, for the dolly that quality is M along track level run, u is the position of dolly
Move,For dolly acceleration, l is the length of lift heavy steel wire rope, and m is the quality of lift heavy, and θ is the pivot angle of lift heavy.
Then the mathematical modeling of lift heavy pivot angle is：
Wherein, g is acceleration of gravity.
Lift heavy swings natural frequency：
When the rope length of lift heavy is constant, then the mathematical modeling of lift heavy pivot angle can be reduced to：
The control principle of crane is as shown in Fig. 2 the acceleration signal of craneInput shaper controller, formed and met
It is required that control signal V, be amplified through overdrive circuit and then drive actuator movement, realize cargo transfer, due to used
The presence of property, lift heavy can produce a pivot angle θ.
Control method is shaken in order to realize that acceleration time adjustable crane is anti-, is introducedAs lifting
The acceleration signal of machine, acceleration time τ, t is time variable, rightIntegrated within the acceleration time, crane speed can be drawn
The maximum v of degreemax=A τ.Constant can determine that according to the maximal rate of design and acceleration time
, will under zero initial conditionSubstituting into the simplification mathematical modeling of lift heavy pivot angle to obtain：
θ (t) is the lift heavy pivot angle changed with time t.
Wherein：
Take t=τ, it can be deduced that the lift heavy pivot angle at τ momentLift heavy pivot angle is entered
Row derivation can draw lift heavy angular speed
At the end of acceleration time τ, the performance of input shaper is weighed by the amplitude of lift heavy Residual oscillations, due to now
Acceleration is not present on crane arm, thus system freely swings for undamped.The amplitude of lift heavy Residual oscillations
Obviously, if making lift heavy Residual oscillations be 0, must make
Therefore can incite somebody to actionWithSubstitute into lift heavy
In the amplitude AMP of Residual oscillations,
Obtain：
Because, it is known that by coefficient is calculated：
As shown in figure 3, the crane maximal rate and acceleration time that are inputted according to operator calculate crane acceleration
Signal, input to shaping controller, shaping controller and drawn whole by carrying out convolution algorithm to initial command and shaping filter
Acceleration signal after shape, control signal is by drive amplification unit and then controls executive component, realizes lift heavy after arm acceleration
Remaining pivot angle is 0.
In the present invention, when the acceleration time τ of selection is equal to τ free period of systemn=2 π/ωn, B value is 0, now
Dolly is with constant acceleration operation.
In emulation, lift heavy rope length l=0.6m and crane maximum operational speed vmax=0.3m/s, selection acceleration time τ=
τnDuring=1s, simulation result is as shown in Figure 4.It can be seen that after accelerator terminates, the pivot angle of lift heavy is 0, and this is just
Realize a transport process without swing.Simulation result shows that the control method proposed can realize that the acceleration time is adjustable,
And the Residual oscillations in operation process can be eliminated.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of acceleration time adjustable crane is anti-to shake control method, it is characterised in that comprises the following steps：
1) mathematical modeling of lift heavy pivot angle is established；
2) acceleration signal of crane is designed；
3) according to the maximal rate of crane and acceleration time, the unknowm coefficient of solution crane acceleration signal；
4) final crane acceleration signal is inputted to shaping controller.
2. adjustable crane of a kind of acceleration time according to claim 1 is anti-to shake control method, it is characterised in that described
Step 1), the mathematical modeling of lift heavy pivot angle are：
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<mover>
<mi>&theta;</mi>
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</mover>
<mo>+</mo>
<mn>2</mn>
<mfrac>
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<mi>l</mi>
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<mi>u</mi>
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</mover>
<mo>/</mo>
<mi>l</mi>
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Wherein, θ is the pivot angle of lift heavy, and u is the displacement of monkey,For monkey acceleration, l is lift heavy steel wire rope
Length, g is acceleration of gravity,
When the length of lift heavy steel wire rope is constant, the mathematical modeling of lift heavy pivot angle is reduced to：
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<mover>
<mi>&theta;</mi>
<mo>&CenterDot;&CenterDot;</mo>
</mover>
<mo>+</mo>
<msubsup>
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<mi>n</mi>
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</mover>
<mo>,</mo>
</mrow>
Wherein,Natural frequency is swung for lift heavy.
3. adjustable crane of a kind of acceleration time according to claim 2 is anti-to shake control method, it is characterised in that described
Step 2), the acceleration signal for designing crane are：
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Wherein, τ is the acceleration time, and t is time variable, and A, B are unknowm coefficient.
4. adjustable crane of a kind of acceleration time according to claim 3 is anti-to shake control method, it is characterised in that described
Coefficient A solution procedure is：To the acceleration signal of the crane of the step 2) designIntegrated within the acceleration time,
Draw the maximum of crane speed：vmax=A τ,
According to the maximal rate of crane and acceleration time, determine that constant A is：
5. adjustable crane of a kind of acceleration time according to claim 3 is anti-to shake control method, it is characterised in that described
The solution procedure of coefficient B is：
5-1) under zero initial condition, by the acceleration signal of the crane of the step 2) designSubstitute into the simplification of lift heavy pivot angle
Obtained in mathematical modeling：
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Wherein, θ (t) is the lift heavy pivot angle changed with time t.
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T=τ 5-2) are taken, draw the lift heavy pivot angle θ at τ momentτ：
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Derivation 5-3) is carried out to lift heavy pivot angle θ (t), t=τ is taken, draws the lift heavy angular speed at τ moment
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5-4) at the end of acceleration time τ, the amplitude AMP of lift heavy Residual oscillations is：
<mrow>
<mi>A</mi>
<mi>M</mi>
<mi>P</mi>
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<msqrt>
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<msubsup>
<mi>&theta;</mi>
<mi>&tau;</mi>
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<mi>n</mi>
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</msqrt>
<mo>,</mo>
</mrow>
It is required that AMP=0, then
WillWithSubstitute into lift heavy Residual oscillations
In amplitude AMP, obtain：
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<mi>A</mi>
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<mn>2</mn>
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</mrow>
BecauseThen：
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6. adjustable crane of a kind of acceleration time according to claim 5 is anti-to shake control method, it is characterised in that described
Final crane acceleration signal is：
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</mover>
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<mfrac>
<msub>
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</mrow>
2
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| CN109896423A (en) * | 2019-03-11 | 2019-06-18 | 上海理工大学 | A kind of time-variant nonlinear trolley-Load's antiswing control device and anti-shake control method |
| CN110294414A (en) * | 2019-06-21 | 2019-10-01 | 上海理工大学 | A kind of Crane control method and device for preventing shaking control algolithm based on open loop |
| CN112010175A (en) * | 2020-07-09 | 2020-12-01 | 太原重工股份有限公司 | Multi-shaft linkage anti-swing control method and control system for crane |
| CN112960550A (en) * | 2021-01-28 | 2021-06-15 | 唐山钢铁集团微尔自动化有限公司 | Anti-swing control method for crown block during manual operation |
| CN114852860A (en) * | 2022-06-02 | 2022-08-05 | 上海驭矩信息科技有限公司 | Bridge crane anti-shaking method and system based on signal difference |
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