CN108249303A - A kind of crane period prevents waving control method - Google Patents
A kind of crane period prevents waving control method Download PDFInfo
- Publication number
- CN108249303A CN108249303A CN201810024922.4A CN201810024922A CN108249303A CN 108249303 A CN108249303 A CN 108249303A CN 201810024922 A CN201810024922 A CN 201810024922A CN 108249303 A CN108249303 A CN 108249303A
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- Prior art keywords
- acceleration
- uniform velocity
- trolley
- accelerator
- pivot angle
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Classifications
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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
Abstract
A kind of crane period prevents waving control method, which is characterized in that crane for hoisting process is divided into permanent accelerator, at the uniform velocity process, permanent moderating process, load pivot angle is zero at the uniform velocity process and stopping；In permanent accelerator, trolley is with accelerationaAs input, a length of one or integer period n during accelerationT,TFor swing period, n is natural number, acceleration, meet maximum allowable pivot angleConstraints；In at the uniform velocity process, trolley withV It is even=naTAt the uniform velocity handling；Permanent moderating process is the inverse process of permanent accelerator, i.e., trolley is with accelerationaAs input, duration is identical with acceleration duration.The present invention starts with from kinematics control, and it is zero that can theoretically accomplish to be supported on pivot angle when at the uniform velocity travelling and stopping, and without angle sensor, is easy to Project Realization, at low cost.And when providing pivot angle, it is expected uniform velocity, stroke when qualifications, it is easy to cook up the specific acceleration and deceleration process for meeting all desired conditions.
Description
Technical field
The present invention relates to a kind of motion control method, especially a kind of crane and moving of car control method, tool
Say to body it is a kind of crane period to prevent waving control method.
Background technology
Crane is widely used in plant produced and modern logistics field, and automation, intelligent and high efficiency are modern
The important development direction of crane control.
Traditional crane is loaded in big trolley operational process and can constantly be waved, and has been seriously affected crane goods and has been hung
The safety of fortune and working efficiency；What is loaded at this time waves the experience for controlling the operator that places one's entire reliance upon, and influence factor is numerous,
Often actual effect is very poor or efficiency is very low.
With the development of modern logistics, crane prevents that the research and technology for waving control is obtaining more and more extensive weight
Depending on.Crane currently on the market prevents that the technology of waving mainly includes mechanical anti-shake and prevents shaking with electronic type.Mechanical anti-shake is based on
Conventional hoist rigidly inhibits load beat come real by installing mechanical device additional and offsetting the energy of load beat or increase rope
The anti-modified for waving, belonging to conventional hoist now loaded.Mechanical anti-shake realizes that simply operability is strong, but needs to increase
Add complicated mechanical equipment or hydraulic device, increase crane overall weight.Electronic type prevents waving based on advanced control
Algorithm is controlled using powerful arithmetic processor, and the information such as rope length, load deflection angle are acquired by signal collecting device
It is transmitted to controller and does feedback modifiers.Electronic anti-swinging majority is closed-loop control at present, needs to increase high-precision load deflection angle
Sensing device is acquired, cost is higher, influences its popularization and application.
Meanwhile the correlative study of the anti-swing control system of crane remains in theory mostly, and focuses mostly on and controlled in the modern times
In method processed, such as fuzzy control, robust control, self adaptive control, ANN Control nonlinear control method, it is answered with practical
It is less with combining, there is relatively large distance with practical implementation.
Invention content
It is complicated the purpose of the present invention is being directed to existing crane electronic or mechanical anti-swing control system, it is of high cost
Problem, invention is a kind of to realize the anti-control method waved by speed planning, it has, and control is simple and practicable, and at low cost is excellent
Point.
One of technical scheme of the present invention is：
A kind of crane period prevents waving control method, which is characterized in that crane for hoisting process is divided into perseverance and was accelerated
Journey, at the uniform velocity process, permanent moderating process, at the uniform velocity process and stopping, load pivot angle is zero；
In permanent accelerator, trolley is using acceleration a as input, and in a length of one or more periods nT during acceleration, T is pendulum
Dynamic period, n are natural number, acceleration a=garctan (θmax/ 2), meet maximum allowable pivot angle θmaxConstraints；At the uniform velocity
Process, trolley is with VIt is even=naT at the uniform velocity handlings, time TIt is even=(XAlways-XAdd-XSubtract)/VIt is even；Permanent moderating process is the inverse mistake of permanent accelerator
Using acceleration-a as input, duration is identical with acceleration duration for journey, i.e. trolley.
Technical scheme of the present invention second is that：
A kind of crane period prevents waving control method, which is characterized in that by crane for hoisting process be divided into accelerator,
At the uniform velocity process, moderating process, at the uniform velocity process and load pivot angle is zero when stopping, and can according to limit maximum allowable pivot angle value,
It is expected that uniform velocity's value plans specific control process；
Accelerator can be divided into T1、T2、T3Three phases：Wherein T1Stage and T3The input of stage trolley is symmetrical, acceleration and
Duration is identical, i.e. a1=a3, T1=T3=T/2, T2Stage acceleration a2=2a1/(1-a1 2/g2), duration is according to the phase
Hope uniform velocity VIt is evenAdjustment, specially T2=(VIt is even-a1T1-a3T3)/a2；
Moderating process is the inverse process of accelerator.
At the uniform velocity process duration is according to Traffic control system, specially TIt is even=(XAlways-XAdd-XSubtract)/VIt is even。
The trolley moves horizontally in X direction, and the cart is moved horizontally along Y-direction, the Acceleration Control of the cart
Method is identical with trolley；When big trolley moves simultaneously, speeding up or down process is carried out with aggregate velocity.
The present invention to be related to knowwhy as follows：
Without loss of generality, by taking two-dimentional crane system as an example, corresponding two dimensional motion schematic diagram is as shown in Figure 1.In rope length
Hunting of load fixed, under constant acceleration input condition is a kind of equivalent simple harmonic motion.
Lagrangian dynamics analysis is carried out to system using pivot angle θ as broad sense degree of freedom, can obtain following equation：
Cos θ a+2L' θ '+L θ "+gsin θ=0 (1)
When rope length is constant, can further simplify：
Comparison Pendulum Equation L θ "+gsin θ=0 can show that this swing is a kind of equivalent simple harmonic motion, SIMULINK
It is as shown in Figure 2 to emulate schematic diagram.Wherein L be rope length, a be trolley acceleration, θ pivot angles；β is equivalent single pendulum center, and there have to be following right
It should be related to tan β=- a/g.Also it is zero as zero initial condition to load pivot angle as zero and angular speed, the swing period of load can
Accurately acquire：
For this purpose, the present invention further analyzes the fortune of crane for hoisting process for the existing anti-deficiency for waving control method
It is dynamic to learn feature, propose on this basis open loop, the crane based on swing period prevents waving control program and with practical
The improvement project of application value.Two schemes theoretically all can guarantee that system load pivot angle at the uniform velocity handling and stopping is zero,
And scheme two it is given limit maximum pendulum angle, it is expected uniform velocity, total stroke length when conditions when be easy to cook up satisfaction it is all
The specific acceleration and deceleration process of desired conditions, and simulating, verifying is obtained, as shown in Figure 5.
Beneficial effects of the present invention：
The present invention starts with from kinematics control, and it is zero that can theoretically accomplish to be supported on pivot angle when at the uniform velocity travelling and stopping,
Without angle sensor, it is easy to Project Realization, at low cost.And work as and provide pivot angle, it is expected the qualifications such as uniform velocity, stroke
When, it is easy to cook up the specific acceleration and deceleration process for meeting all desired conditions.Being equipped with simple computer speed control can be real
Now prevent waving control.
Description of the drawings
Fig. 1 is two-dimentional crane movements schematic diagram.
Fig. 2 is under zero initial condition, and when rope length is fixed, acceleration input is constant, load pivot angle emulates schematic diagram.
Fig. 3 is system input and pivot angle schematic diagram after a cycle acceleration and deceleration.
Fig. 4 is system input and pivot angle schematic diagram after two period acceleration and deceleration.
Fig. 5 is the system input of technical solution 2 and pivot angle schematic diagram.
In Fig. 2-Fig. 5, abscissa is the time, and unit is the second；On ordinate, pivot angle unit degree of taking, unit of acceleration takes m/
s2, speed unit takes m/s.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
Embodiment one.
As shown in Fig. 1,3,4.
A kind of crane period prevents waving control method, key be by crane for hoisting process be divided into permanent accelerator,
At the uniform velocity process, permanent moderating process, at the uniform velocity process and stopping, load pivot angle is zero；In permanent accelerator, trolley is with acceleration a
As input, a length of one or integer period nT, T are swing period during acceleration, and n is natural number, acceleration a=garctan
(θmax/ 2), meet maximum allowable pivot angle θmaxConstraints；In at the uniform velocity process, trolley is with VIt is even=naT at the uniform velocity handlings；Perseverance is slowed down
Process is the inverse process of permanent accelerator, i.e., trolley is using acceleration-a as input, and duration is identical with acceleration duration, such as
Shown in Fig. 1.
By taking moving of car as an example.With reference to Fig. 3, Fig. 4, give trolley one constant acceleration a input in zero initial condition, this
Process is as crane constant accelerator, wherein acceleration a=garctan (θmax/ 2) meet maximum allowable pivot angle θmaxConstraint
Condition；Then acceleration is removed in a cycle or multiple end cycles, trolley is made to make at the uniform velocity without pendulum motion；Last perseverance
Moderating process is the inverse process of permanent accelerator：Apply a reversely equivalent acceleration when slowing down, in a cycle or more
Acceleration input is removed during a end cycle, load is made to reach home no swing.
In fact, at the time of integer end cycle is accelerated to remove acceleration, it is all zero to load pivot angle and angular speed, pendulum
Angle and pivot angle speed will not be mutated, and thereby ensure that loading pivot angle in constant velocity stage remains zero.Moderating process is accelerates
The inverse process of process removes acceleration input, due to being deposited in acceleration and deceleration process trolley velocity variations after the deceleration integer period
In symmetry, swung so loading non-angular when i.e. small vehicle speed of reaching home becomes zero.Therefore, above-mentioned kinematics control plan
Slightly, it can theoretically ensure that trolley is loaded at uniform motion and stopping without pivot angle.
Embodiment two.
As shown in Figure 1,5.
A kind of crane period prevents waving control method, and key is that crane for hoisting process is divided into accelerator, even
Fast process, moderating process, at the uniform velocity process and stopping, load pivot angle is zero, and can be according to the maximum allowable pivot angle value of restriction, phase
Hope the specific control process of uniform velocity's value planning；Accelerator can be divided into T1、T2、T3Three phases：Wherein T1Stage and T3Stage
Trolley input is symmetrical, and acceleration is identical with the duration, i.e. a1=a3, T1=T3=T/2, T are swing period；Acceleration a1=
garctan(θmax/ 2), meet maximum allowable pivot angle θmaxConstraints；T2Stage acceleration a2=garctan θmax, have at this time
a2=2a1/(1-a1 2/g2), duration is adjusted according to expectation uniform velocity；Moderating process is the inverse process of accelerator, is such as schemed
Shown in 1.
With reference to Fig. 5, full handling process still comprising accelerate, at the uniform velocity, three processes of slowing down.But accelerator is divided into three
Stage：First stage under zero initial condition, according to maximum allowable pivot angle θmaxProvide the acceleration a of system1=garctan
(θmax/ 2) after, accelerating half period, acceleration is changed to a when pivot angle is in maximum value2, the retention time is by desired centre
Constant velocity stage's speed determines；Then acceleration is become again a1, terminate accelerator after continuing half period, this is accelerator the
Three phases.Then into the uniform motion process of no pivot angle, last moderating process is the inverse process of accelerator.
In fact, at the end of the first stage of accelerator, pivot angle reaches maximum value, and pivot angle speed is zero.Pivot angle and
Pivot angle speed will not mutate, but equivalent single pendulum center can be mutated with the mutation of acceleration.If find one in this moment
A specific acceleration a2So that equivalent single pendulum center becomes maximum pivot angle present position just, it is ensured that in acceleration a2Under
Load does not swing back and forth, in this, as the second stage of accelerator.If transfer point pivot angle is θ, as second stage
Equivalent single pendulum center, thereforeAnd the maximum pendulum angle of first stage is θ, equivalent single pendulum center isI.e.Therefore
It can acquire：a2=2a1/(1-a1 2/g2)。
If the duration of accelerator three phases is respectively T1、T2、T3, corresponding acceleration is respectively a1、a2、a3, third
Stage T3=T1, a3=a1, operating range XAdd；Intermediate at the uniform velocity process speed is VIt is even, duration TIt is even, operating range XIt is even；
Moderating process is the inverse process of accelerator, so XSubtract=XAdd.As given total operating range XAlways, limit maximum pendulum angle θ and
During desired at the uniform velocity process speed, motion planning can be provided to entire motion process, specific steps are as shown in table 1.
Table 1
Moderating process be accelerator inverse process, i.e., acceleration magnitude and with each phase duration and accelerator phase
Together, direction is opposite.
It is V that specific qualifications are assumed in embodiment one, twoIt is even=1.2m/s, pivot angle maximum value θ=4 degree, stroke X=4m
When, the overall process parameter of planning is as shown in table 2.
Table 2
Part that the present invention does not relate to is same as the prior art or the prior art can be used is realized.
Claims (3)
1. a kind of crane period prevents waving control method, which is characterized in that by crane for hoisting process be divided into permanent accelerator,
At the uniform velocity process, permanent moderating process, at the uniform velocity process and stopping, load pivot angle is zero；
In permanent accelerator, trolley is using acceleration a as input, and in a length of one or more periods nT during acceleration, T is swings week
Phase, n are natural number, acceleration a=garctan (θmax/ 2), meet maximum allowable pivot angle θmaxConstraints；In at the uniform velocity mistake
Journey, trolley is with VIt is even=naT at the uniform velocity handlings；Permanent moderating process is the inverse process of permanent accelerator, i.e., trolley using acceleration-a as
Input, duration are identical with acceleration duration.
2. a kind of crane period prevents waving control method, which is characterized in that crane for hoisting process is divided into accelerator, even
Fast process, moderating process, at the uniform velocity process and stopping, load pivot angle is zero, and according to the maximum allowable pivot angle value of restriction, expectation
The specific control process of uniform velocity's value planning；
Accelerator can be divided into T1、T2、T3Three phases：Wherein T1Stage and T3The input of stage trolley is symmetrical, acceleration and continues
Time is identical, i.e. a1=a3, T1=T3=T/2, T are swing period, acceleration a1=garctan (θmax/ 2), meet maximum allowable
Pivot angle θmaxConstraints；T2Stage acceleration a2=2a1/(1-a1 2/g2), duration is adjusted according to expectation uniform velocity；
Moderating process is the inverse process of accelerator.
3. the crane period according to claim 1 or 2 prevents waving control method, which is characterized in that the trolley is along X side
To moving horizontally, the cart is moved horizontally along Y-direction, and the acceleration control method of the cart is identical with trolley；Big trolley
When moving simultaneously, speeding up or down process is carried out with aggregate velocity.
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Cited By (7)
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| CN108840242A (en) * | 2018-08-31 | 2018-11-20 | 三海洋重工有限公司 | Crane, monkey and its control method and device |
| CN110775819A (en) * | 2019-11-21 | 2020-02-11 | 湖南沃森电气科技有限公司 | Anti-swing control method and system for tower crane |
| CN111320079A (en) * | 2020-02-24 | 2020-06-23 | 湖南天桥嘉成智能科技有限公司 | Positioning and anti-swing unmanned vehicle control method |
| CN111348550A (en) * | 2020-02-24 | 2020-06-30 | 湖南天桥嘉成智能科技有限公司 | Unmanned vehicle anti-swing control method |
| CN112777488A (en) * | 2020-12-21 | 2021-05-11 | 湖南天桥嘉成智能科技有限公司 | Accurate traveling crane positioning method based on operation track control |
| CN113023570A (en) * | 2019-12-25 | 2021-06-25 | 富士电机株式会社 | Control device for overhead crane and inverter device |
| CN113148845A (en) * | 2021-04-01 | 2021-07-23 | 长沙亿美博智能科技有限公司 | Anti-swing control method for crane and crane adopting same |
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| CN108840242A (en) * | 2018-08-31 | 2018-11-20 | 三海洋重工有限公司 | Crane, monkey and its control method and device |
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| CN110775819A (en) * | 2019-11-21 | 2020-02-11 | 湖南沃森电气科技有限公司 | Anti-swing control method and system for tower crane |
| CN110775819B (en) * | 2019-11-21 | 2021-02-23 | 湖南沃森电气科技有限公司 | Anti-swing control method and system for tower crane |
| CN113023570A (en) * | 2019-12-25 | 2021-06-25 | 富士电机株式会社 | Control device for overhead crane and inverter device |
| CN111320079A (en) * | 2020-02-24 | 2020-06-23 | 湖南天桥嘉成智能科技有限公司 | Positioning and anti-swing unmanned vehicle control method |
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| CN111348550B (en) * | 2020-02-24 | 2022-01-07 | 湖南天桥嘉成智能科技有限公司 | Unmanned vehicle anti-swing control method |
| CN112777488A (en) * | 2020-12-21 | 2021-05-11 | 湖南天桥嘉成智能科技有限公司 | Accurate traveling crane positioning method based on operation track control |
| CN112777488B (en) * | 2020-12-21 | 2022-04-12 | 湖南天桥嘉成智能科技有限公司 | Accurate traveling crane positioning method based on operation track control |
| CN113148845A (en) * | 2021-04-01 | 2021-07-23 | 长沙亿美博智能科技有限公司 | Anti-swing control method for crane and crane adopting same |
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Application publication date: 20180706 |