CN110950241A - Electronic anti-swing method of intelligent crane - Google Patents
Electronic anti-swing method of intelligent crane Download PDFInfo
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- CN110950241A CN110950241A CN201911328720.XA CN201911328720A CN110950241A CN 110950241 A CN110950241 A CN 110950241A CN 201911328720 A CN201911328720 A CN 201911328720A CN 110950241 A CN110950241 A CN 110950241A
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- crane
- electronic anti
- speed control
- speed
- swing
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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
Abstract
The invention relates to the technical field of cranes, in particular to an electronic anti-swing method for an intelligent crane, which plans a carrying path according to the current position and the target position of a cargo to be carried; calculating the maximum acceleration and the running speed according to the load mass, the rope length and the carrying path length of the crane to obtain a speed control curve with optimal time; detecting the position of the crane in the carrying path, and determining the current running state of the crane, wherein the running state comprises the following steps: accelerating operation, uniform speed operation and decelerating operation; and controlling the variable-speed operation of the motor through the frequency converter according to the operation state and the corresponding speed control curve to realize the electronic anti-shaking of the crane. The electronic anti-swing method of the invention correspondingly adopts different preset speed control curves according to different running states of the intelligent crane, and optimizes the running time to the maximum extent while realizing anti-swing.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to an electronic anti-swing method of an intelligent crane.
Background
When the crane operates, the hoisting weight swings seriously, the operation efficiency is influenced, and potential safety hazards exist. At present, the swing-proof control of the lifting equipment is realized by common open-loop and closed-loop control technologies. The open-loop control method mainly comprises positioning anti-swing control based on input shaping and positioning anti-swing control based on trajectory planning. The closed-loop control method for realizing the anti-swing comprises control modes such as feedback linearization, gain scheduling control, sliding mode control, predictive control, fuzzy control, neural network control, passivity control and the like.
However, the anti-sway control methods in the prior art are designed for manually operated cranes, and no electronic anti-sway control scheme provided for intelligent cranes exists. The intelligent crane can complete the actions of material movement, transportation and the like in a three-dimensional space according to the process requirements without manual operation. The planning of the running path and the anti-swing positioning control of the flexible lifting system are necessary conditions for realizing the running of the crane. In the working process of the system, the acceleration and deceleration of the big car and the small car and the lifting of the load can lead the load to swing back and forth, thereby not only affecting the working efficiency of the system, but also causing accidents. For the lifting and carrying environment with fixed and unchangeable positions of the obstacles, the requirements can be met by adopting static path planning. However, when the obstacles in the environment cannot be determined in advance or the multiple subsystems perform mixed operation, a safe path needs to be obtained online in real time by using a dynamic path planning method. Therefore, an electronic anti-swing method for a crane is provided.
Disclosure of Invention
Technical problem to be solved
In order to solve the above problems in the prior art, the present invention provides an electronic anti-swing method for an intelligent crane.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that: an electronic anti-swing method of an intelligent crane, comprising: step 1, measuring the load mass of a crane and measuring the rope length of the load; step 2, acquiring the current position and the target position of the goods to be transported according to the input signal, and planning a transportation path of the goods according to the input current position and the input target position; step 3, calculating the maximum acceleration and the running speed according to the load mass, the rope length and the length of the conveying path to obtain a speed control curve with optimal time; step 4, detecting the position of the crane in the conveying path, and determining the current running state of the crane, wherein the running state comprises the following steps: accelerating operation, uniform speed operation and decelerating operation; and 5, controlling the variable speed operation of the motor through a frequency converter to realize the electronic anti-shaking of the crane according to the operation state and the corresponding speed control curve.
As further preferable in the present technical solution: and step 3, further comprising respectively calculating the distances of acceleration operation, uniform speed operation and deceleration operation in the conveying path according to the speed control curve, and marking the points of operation state conversion in the conveying path.
As further preferable in the present technical solution: in step 5, a preset speed control curve is set using displacement compensation control for the state of the acceleration operation.
As further preferable in the present technical solution: in step 5, a preset speed control curve is set by adopting dynamic tracking control for the state of constant speed operation.
As further preferable in the present technical solution: in step 5, a preset speed control curve is set using speed compensation control for the state of the deceleration operation.
As further preferable in the present technical solution: step 4 further comprises comparing the expected handling path with the current position of the crane and issuing an alarm prompt when the deviation exceeds a predetermined value.
As further preferable in the present technical solution: and step 5, detecting the current swing angle of the crane, and sending an alarm prompt when the swing angle is larger than a preset value.
As further preferable in the present technical solution: in step 3, a time-optimal speed control curve is obtained by fitting an optimal speed control curve neural network.
(III) advantageous effects
The invention has the beneficial effects that: (1) the electronic anti-shaking method is adopted in the intelligent crane, a mechanical anti-shaking device is not required to be added, the structure is simpler, the cost can be saved, and the maintenance is convenient; (2) the electronic anti-swing method of the intelligent crane is combined with the transportation path planning to realize dynamic path planning; (3) different preset speed control curves are correspondingly adopted according to different running states of the intelligent crane, so that the running time is optimized to the maximum extent while the anti-shaking is realized.
Drawings
FIG. 1 is a flow chart of the work flow of the electronic anti-swing method of the intelligent crane of the present invention.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
Examples
The invention provides an electronic anti-swing method of an intelligent crane. The following describes a specific embodiment and an operation principle of the electronic anti-swing method of a crane according to the present invention.
A crane typically includes a cart, a trolley, a hoist mechanism, and a guide rail. Through calculation and analysis of the operation characteristics of the crane and the dynamics of single degree of freedom of the large trolley, the small trolley and the hoisting weight, when the large trolley and the small trolley are in constant acceleration motion, the swinging rule of the hoisting weight is the same as the single pendulum motion rule under a non-inertial system, when the large trolley and the small trolley are switched between the constant acceleration motion and the constant velocity motion, the swinging speed value at the moment when the previous state is finished is unchanged, and the swinging angle is converted into the swinging angle under a new swinging balance position and then continues to be in the single pendulum motion. Through analysis and simulation, the swing rule of the hoisting weight when the big car and the small car are switched between constant acceleration and constant speed operation can be well simulated. Accordingly, it is first necessary to measure the load mass of the crane and the rope length of the load, and then calculate the swing law of the hoist according to the load mass, the rope length, and the maximum acceleration and running speed of the hoist. In the prior art, a theoretical model of a crane anti-swing system is a two-dimensional or three-dimensional mathematical model of a dynamic system established by a method of a lagrange equation.
By calculating and analyzing the coordinate hoisting swing mode of the non-inertial system, the swing eliminating strategies of the crane under three conditions of running process, before full-load running and after braking when reaching a specified position are formulated. Finally, it is known that: the acceleration time and the interval time of the acceleration couple are reasonably controlled, and the swing angle of the crane can be effectively eliminated. The system is based on the variable frequency speed regulation technology, utilizes an optimal pendulum elimination strategy of time for eliminating pendulum by acceleration couple, and calculates the running distance of a cart and a cart in the pendulum elimination process, thereby being beneficial to positioning of the cart and the cart. According to the above analysis, the crane can be divided into three operating states: and respectively setting corresponding preset speed control curves for acceleration operation, uniform speed operation and deceleration operation. Specifically, the preset speed control curve may be set using displacement compensation control, dynamic tracking control, and speed compensation control.
In the displacement compensation control and the speed compensation control, the frequency converter controls a cart motor and a trolley motor to compensate the swing of the hoisting weight. The specific compensation amount is determined by a fuzzy PID control algorithm. The specific parameters and compensation mechanism of the PID control algorithm are conventional techniques, and are not described herein. In the dynamic tracking control, an optical device (usually a camera) is used for continuously tracking a hoisting target to obtain dynamic parameters of the hoisting target, the PLC calculates an expected movement route according to the parameters and sends an anti-shaking instruction to the frequency converter, and the frequency converter completes dynamic adjustment according to the instruction. The typical dynamic tracking control described above can also be implemented using, for example, siemens's simorphane CeSAR standard electronic anti-sway system.
After the current position and the target position of the goods to be transported are obtained according to the input signals, the specific transportation path planning method comprises the following steps: the method comprises the steps of loading pre-stored environment information, and carrying out path search by taking the current position and the target position of an input signal as a starting point and an end point to obtain an optimal path. Wherein the environment information can adopt a two-dimensional grid model diagram, and the obstacle information is included in the environment information. In addition, after the optimal path is generated, the distances of acceleration operation, uniform speed operation and deceleration operation in the conveying path can be respectively calculated according to the speed control curve, and the points of operation state conversion in the conveying path are marked. In the prior art, the optimal speed control curve is typically obtained using classical optimal control, near optimal control, or strong optimal control. In addition, a time-optimal speed control curve can be obtained through optimal speed control curve neural network fitting.
In this embodiment, specifically: in the operation process, in order to prevent the crane from deviating from the preset path, the expected carrying path and the current position of the crane can be compared, and when the deviation exceeds a preset value, an alarm prompt is given.
In this embodiment, specifically: in the operation process, the current swing angle of the crane is detected, and when the swing angle is larger than a preset value, an alarm prompt is sent out.
The electronic anti-swing method of the crane has the following working principle: measuring the load mass of the crane and the rope length of the load in the pre-hoisting stage; inputting the current position and the target position of the goods to be carried; a path planning system of the crane plans a carrying path of the goods according to the current position and the target position of the goods to be carried; and calculating the maximum acceleration and the running speed according to the load mass, the rope length and the length of the conveying path to obtain a speed control curve with optimal time. After the preparation work is finished, the crane starts to carry out lifting, and in the lifting process, the running state of the crane in the conveying path is determined according to the conveying path of the goods, wherein the running state comprises the following steps: accelerating operation, uniform speed operation and decelerating operation; and controlling the variable-speed operation of the motor through the frequency converter according to the operation state and the corresponding preset speed control curve to realize the electronic anti-shaking of the crane. During operation, the expected carrying path and the current position of the crane are compared, and when the deviation exceeds a preset value, an alarm prompt is given. Meanwhile, the current swing angle of the crane is detected, and when the swing angle is larger than a preset value, an alarm prompt is given.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An electronic anti-swing method of an intelligent crane is characterized by comprising the following steps:
step 1, measuring the load mass of a crane and measuring the rope length of the load;
step 2, acquiring the current position and the target position of the goods to be transported according to the input signal, and planning a transportation path of the goods according to the input current position and the input target position;
step 3, calculating the maximum acceleration and the running speed according to the load mass, the rope length and the length of the conveying path to obtain a speed control curve with optimal time;
step 4, detecting the position of the crane in the conveying path, and determining the current running state of the crane, wherein the running state comprises the following steps: accelerating operation, uniform speed operation and decelerating operation;
and 5, controlling the variable speed operation of the motor through a frequency converter to realize the electronic anti-shaking of the crane according to the operation state and the corresponding speed control curve.
2. The electronic anti-swing method of an intelligent crane according to claim 1, wherein: and step 3, further comprising respectively calculating the distances of acceleration operation, uniform speed operation and deceleration operation in the conveying path according to the speed control curve, and marking the points of operation state conversion in the conveying path.
3. The electronic anti-swing method of an intelligent crane according to claim 1, wherein: in step 5, a preset speed control curve is set using displacement compensation control for the state of the acceleration operation.
4. The electronic anti-swing method of an intelligent crane according to claim 3, wherein: in step 5, a preset speed control curve is set by adopting dynamic tracking control for the state of constant speed operation.
5. The electronic anti-swing method of an intelligent crane according to claim 4, wherein: in step 5, a preset speed control curve is set using speed compensation control for the state of the deceleration operation.
6. The electronic anti-swing method of an intelligent crane according to claim 1, wherein: step 4 further comprises comparing the expected handling path with the current position of the crane and issuing an alarm prompt when the deviation exceeds a predetermined value.
7. The electronic anti-swing method of an intelligent crane according to claim 1, wherein: and step 5, detecting the current swing angle of the crane, and sending an alarm prompt when the swing angle is larger than a preset value.
8. The electronic anti-swing method of an intelligent crane according to claim 1, wherein: in step 3, a time-optimal speed control curve is obtained by fitting an optimal speed control curve neural network.
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| CN201911328720.XA CN110950241A (en) | 2019-12-20 | 2019-12-20 | Electronic anti-swing method of intelligent crane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113753751A (en) * | 2021-08-17 | 2021-12-07 | 中联重科股份有限公司 | Method, controller and device for crane anti-swing control and crane |
| CN115159353A (en) * | 2022-06-22 | 2022-10-11 | 北京东土科技股份有限公司 | Tower crane control method and device, computing equipment and storage medium |
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| CN113753751A (en) * | 2021-08-17 | 2021-12-07 | 中联重科股份有限公司 | Method, controller and device for crane anti-swing control and crane |
| CN115159353A (en) * | 2022-06-22 | 2022-10-11 | 北京东土科技股份有限公司 | Tower crane control method and device, computing equipment and storage medium |
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Address after: Floor 1, building 14, Lane 258, Yinlong Road, Jiading District, Shanghai, 201800 Applicant after: BORRIS HEAVY INDUSTRY Co.,Ltd. Address before: Area C, 1 / F, building 3, No. 5999, Huyi highway, Jiading District, Shanghai, 201814 Applicant before: BORRIS HEAVY INDUSTRY Co.,Ltd. |
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Application publication date: 20200403 |
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