CN111392591A - Embedded anti-swing method for bridge crane - Google Patents
Embedded anti-swing method for bridge crane Download PDFInfo
- Publication number
- CN111392591A CN111392591A CN202010224191.5A CN202010224191A CN111392591A CN 111392591 A CN111392591 A CN 111392591A CN 202010224191 A CN202010224191 A CN 202010224191A CN 111392591 A CN111392591 A CN 111392591A
- Authority
- CN
- China
- Prior art keywords
- bridge crane
- running mechanism
- horizontal running
- embedded
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an embedded anti-swing method for a bridge crane, and belongs to the technical field of crane anti-swing. The method comprises the following steps: step S1: providing a system which also comprises a lifting rope encoder and an embedded module bridge crane system; step S2, establishing a mathematical model of the anti-shaking acceleration of the horizontal running mechanism; step S3, the embedded module measures the real-time length of the lifting rope of the bridge crane and the total mass of the hoisted object through the lifting rope encoder; step S4, obtaining a function formula a (t) of the anti-shaking acceleration and time of the horizontal running mechanism through a mathematical model in the embedded module; step S5, the embedded module obtains a function formula v (t) of the speed and time of the horizontal running mechanism; in step S6, the programmable controller drives the horizontal movement mechanism to move at the received speed through the frequency converter. The problems that the traditional bridge crane is inaccurate in open-loop control, high in complexity and cost and not easy to realize in closed-loop control of the traditional bridge crane are solved.
Description
Technical Field
The invention relates to the technical field of crane anti-swing, in particular to an embedded anti-swing method for a bridge crane.
Background
The bridge crane is an indispensable production tool for industrial production, and along with social development, users have higher and higher requirements on safety, reliability, accuracy, stability and the like of bridge crane machinery. The bridge crane can swing due to the hanging object under the inertia effect in the loading and unloading process, and the production safety and the operation efficiency are seriously influenced. At present, swing reduction can be divided into three methods of manual swing prevention, mechanical swing prevention and electrical swing prevention, wherein the manual swing prevention is that swing is counteracted by frequently controlling acceleration and deceleration by bridge crane operators according to the swing condition of a hoisted object, different levels of the bridge crane operators are different, the method is low in reliability, has potential safety hazards and simultaneously has large loss on electrical equipment. The mechanical anti-swing method is used for offsetting swing through mechanical transformation, and the method is high in maintenance cost and is more and more unstable in anti-swing effect along with factors such as mechanical abrasion and aging. The electric anti-swing has a good anti-swing effect, a programmable controller and a frequency converter are adopted in a traditional bridge crane control mode, however, the computing capability of the programmable controller cannot meet the related algorithm of the existing electric anti-swing scheme, and therefore matched corresponding electric equipment has to be updated, so that the method is high in cost and is not very beneficial to popularization. Therefore, it is necessary to invent a low-cost and easy-to-implement anti-shake control method.
Disclosure of Invention
The invention aims to provide an embedded anti-swing method of a bridge crane, aiming at the problems, and solving the problems of inaccuracy of open-loop control of the traditional bridge crane, high complexity and high cost of closed-loop control of the traditional bridge crane and difficulty in realization.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: an embedded anti-swing method of a bridge crane comprises the following steps:
step S1: the bridge crane system comprises a lifting rope encoder, an embedded module, a programmable controller, a frequency converter, a lifting operation mechanism and a horizontal operation mechanism, wherein the lifting rope encoder is connected with the embedded module, the embedded module is connected with the programmable controller, and the programmable controller controls the frequency converter to drive the lifting operation mechanism and the horizontal operation mechanism to move;
step S2, establishing a mathematical model about the anti-shaking acceleration of the horizontal running mechanism when the bridge crane runs in the embedded module;
step S3, hoisting the hoisted object by the lifting operation mechanism, and measuring the real-time length of the hoisting rope of the bridge crane and the total mass of the hoisted object by the embedded module through a hoisting rope encoder;
step S4, based on the real-time length of the lifting rope and the total mass of the lifted object, the embedded module obtains a function formula a (t) of the anti-rolling acceleration and the time of the horizontal running mechanism through a mathematical model of the anti-rolling acceleration of the horizontal running mechanism;
step S5, based on the function formula of the anti-shake acceleration and the time of the horizontal running mechanism, the embedded module obtains the function formula v (t) of the speed and the time of the horizontal running mechanism, and transmits the running speed signal of the horizontal running mechanism at the corresponding time to the programmable controller according to the function formula v (t) of the speed and the time of the horizontal running mechanism;
and step S6, the programmable controller drives the horizontal running mechanism to run at the received speed through the frequency converter according to the received speed signal of the horizontal running mechanism.
Further, in step S2, the mathematical model is:
wherein m is the total mass of the hoisted object, l is the length of a hoisting rope of the bridge crane, g is the local gravity acceleration, theta is the angle generated by the hoisting rope and a vertical center, is the damping ratio coefficient of the hoisted object in the swinging process, a is the acceleration of the horizontal running mechanism, and t is the running time of the horizontal running mechanism.
Further, the mathematical model is processed by laplace transform to obtain a function theta (t) of the swing angle theta of the suspended object and time t:
wherein theta is0The maximum allowable swing angle of the swing system in a balanced state, and the motion period of theta (t) is as follows:
further, the horizontal running mechanism in step S5 employs a two-stage compensation shift control including a compensation shift of an acceleration stage and a compensation shift and a deceleration stage of the horizontal running mechanism.
Further, the formula a (t) of the function of the anti-rolling acceleration of the horizontal running mechanism and the time is as follows:
further, the formula v (t) of the speed of the horizontal running mechanism in the acceleration stage and the time is as follows:
further, the formula v (t) of the speed of the horizontal running mechanism in the deceleration stage and the time is as follows:
furthermore, the embedded module adopts a high-performance ARM processor as a main control processor.
Furthermore, the embedded module is connected with the programmable controller through one or more communication interfaces of MODBUS, PROFIBUS or industrial Ethernet.
Furthermore, a plurality of gears are preset in the bridge crane system, and the embedded module calculates anti-shaking speed signals of different gear states and transmits the anti-shaking speed signals to the programmable controller.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the bridge crane of the invention can solve the problem of swing generated in the production process by adopting the method. The invention adopts the embedded module as the main operation unit for controlling and preventing the bridge crane from shaking, thereby greatly reducing the calculation load of the programmable controller. The embedded module adopts a control algorithm without a large amount of peripheral auxiliary equipment, and solves the problems of inaccuracy of open-loop control of the traditional bridge crane, high complexity and high cost of closed-loop control of the traditional bridge crane and difficulty in realization.
2. The invention controls the horizontal running mechanism by two-stage compensation speed changing method, respectively controls the speed of the horizontal running mechanism in the acceleration stage and the deceleration stage, and can realize the anti-shaking in the acceleration stage and the deceleration stage.
3. The embedded module adopts the high-performance ARM processor as a main processor, has high operation speed, supports various communication protocols and interfaces of MODBUS, PROFIBUS and Ethernet, can be compatible with programmable controllers of most bridge cranes in the market, is convenient to install, does not need to modify the electrical equipment of the existing bridge cranes in a large scale, and saves expenditure cost.
Drawings
FIG. 1 is a block diagram of the system of the present invention.
FIG. 2 is a schematic view of the operation of the bridge crane of the present invention.
FIG. 3 is a graph of acceleration versus speed versus time for the horizontal run of the present invention.
FIG. 4 is a graph of the swing angle of the lifting rope versus speed versus time in accordance with the present invention.
In the attached drawing, the device comprises a lifting rope encoder 1, an embedded module 2, a programmable controller 3, a frequency converter 4, a lifting operation mechanism 5 and a horizontal operation mechanism 6.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
An embedded anti-swing method of a bridge crane comprises the following steps:
step S1: referring to fig. 1, a lifting rope encoder 1 and an embedded module 2 are added to bridge crane system control hardware, so that the bridge crane system comprises the lifting rope encoder 1, the embedded module 2, a programmable controller 3, a frequency converter 4, a lifting operation mechanism 5 and a horizontal operation mechanism 6, the lifting rope encoder 1 is connected with the embedded module 2, the embedded module 2 is connected with the programmable controller 3, and the programmable controller 3 controls the frequency converter 4 to drive the lifting operation mechanism 5 and the horizontal operation mechanism 6 to move; the embedded module 2 adopts a high-performance ARM processor as a main control processor, and the embedded module 2 is connected with the programmable controller 3 through one or more communication interfaces in MODBUS, PROFIBUS or industrial Ethernet.
Step S2, establishing a mathematical model about the anti-shaking acceleration of the horizontal running mechanism when the bridge crane runs in the embedded module 2; the mathematical model is as follows:
wherein m is the total mass of the hoisted object, l is the length of the hoisting rope of the bridge crane, g is the local gravity acceleration, theta is the angle generated by the hoisting rope and the vertical center, is the damping ratio coefficient of the hoisted object in the swinging process, a is the acceleration of the horizontal running mechanism 6, and t is the running time of the horizontal running mechanism.
And (3) performing Laplace transform arrangement on the mathematical model to obtain a function theta (t) of the swing angle theta of the suspended object and time t:
wherein theta is0Is the maximum allowable swing angle of the swing system in a balanced state, and the motion period of theta (t) is
Step S3, hoisting the hoisted object by the lifting operation mechanism 5, and measuring the real-time length of the hoisting rope of the bridge crane and the total mass of the hoisted object by the embedded module 2 through the hoisting rope encoder 1;
step S4, based on the real-time length of the lifting rope and the total mass of the lifted object, the embedded module 2 obtains a function formula a (t) of the anti-shaking acceleration and time of the horizontal running mechanism 6 through a mathematical model of the anti-shaking acceleration of the horizontal running mechanism 6;
step S5, based on the function formula of the anti-shake acceleration and the time of the horizontal running mechanism 6, the embedded module 2 obtains the function formula v (t) of the speed and the time of the horizontal running mechanism 6, and transmits the running speed signal of the horizontal running mechanism 6 at the corresponding time to the programmable controller 3 according to the function formula v (t) of the speed and the time of the horizontal running mechanism 6;
in step S6, the programmable controller 3 drives the horizontal movement mechanism 6 to operate at the received speed through the frequency converter 4 according to the received speed signal of the horizontal movement mechanism 6. The gears are preset for the existing bridge crane, so that the final speed of each gear can be known by different gears.
In this embodiment, the user sets the maximum allowable swing theta of each control gear of the bridge crane0The horizontal running mechanism 6 of each gear smoothly runs at a speed v. The horizontal running mechanism 6 adopts two-stage compensation speed change control, referring to fig. 3, in the acceleration stage, the first stage of acceleration leads the horizontal running mechanism 6 to be accelerated by an acceleration a0Elapsed time t0Acceleration, the speed increment of the stage is v0Then the horizontal running mechanism 6 enters a constant speed state, the hoisted object enters a swinging period to move and passes through
After the time, the swing angle of the hanging object is at the maximum amplitude value and is eliminated according to the swing angle superposition,
at the moment of compensating acceleration, with an acceleration a1Elapsed time
Acceleration, the speed increment of the stage is v1The swing angle generated by the acceleration of the first section is offset through the acceleration of the second section, so that the anti-swing purpose is realized, and the final running speed of the system is v0+v1. In the deceleration stage, the initial speed of the system is v0+v1So that the first section of the system decelerates at an acceleration-a0Elapsed time t0Decelerating to reduce the velocity to v1In passing through
After the time, the horizontal running mechanism 6 performs a second compensation speed change with an acceleration of-a1Elapsed time
The speed is reduced to 0 by compensating the speed change, and meanwhile, the swing angle generated by the first section is offset, so that the swinging is prevented, and the change of the swing angle of the suspended object is shown in figure 4.
The angle of the suspended object generated by the acceleration a of the horizontal running mechanism 6 is generated, and referring to fig. 2, the force analysis shows that: when g θ0When the acceleration is more than a, the suspended object can move at the horizontal acceleration a and simultaneously perform simple pendulum movement; when g θ0When the lifting rope moves at a horizontal acceleration a, the angle formed by the lifting rope and the vertical direction is theta0(ii) a When g θ0When the angle is less than a, the hanging object can move at the horizontal acceleration a, and the included angle formed by the hanging rope and the vertical direction is more than theta0. In order to satisfy the condition that the first derivative and the second derivative of theta (t) are both 0 under the 0 initial condition, the acceleration signal of the horizontal running mechanism 6 is started to be a0＝gθ0Let the acceleration time be t0At this time, the system operation speed v0＝gθ0t0The system completes the first stage of acceleration. In order to eliminate the superposition of the swing angles, the change rate of the swing angles of the system can be obtained through theta (t), and the suspended object is arranged in the swing period
At the beginning of the time, the change of the swing angle is theta at the increment of unit time delta t0The increment of the hoisted object in the horizontal direction is l delta theta, and the acceleration of the horizontal running mechanism 6 in the horizontal direction is a1At a time increment of Δ t of
For eliminating corresponding increments of swinging of suspended articles
Namely, it is
According toTheta (t) indicates that delta theta change is not linear with time increment delta t, and a1Is not linear. When Δ θ approaches 0, a is known from the integral characteristic1Is the product of the second derivative of θ (t) and the cord length l. When hanging the object at
When the time returns to the balance point, the swing angle of the suspended object is 0, the horizontal running mechanism 6 does not accelerate any more, so the second period of acceleration time is
In summary, the function a (t) of the acceleration of the second section of the horizontal travel mechanism 6 with time t is given by:
obtaining the acceleration stage v (t) function of the horizontal running mechanism 6:
obtaining a function of the deceleration stage v (t) of the horizontal running mechanism 6:
the bridge crane of the embodiment can solve the problem of swing generated in the production process by adopting the method. In the embodiment, the embedded module 2 is used as a main operation unit for controlling and preventing the bridge crane from shaking, so that the calculation load of the programmable controller 3 is greatly reduced. The embedded module 2 adopts a control algorithm without a large amount of peripheral auxiliary equipment, and solves the problems of inaccuracy of open-loop control of the traditional bridge crane, high complexity and high cost of closed-loop control of the traditional bridge crane and difficulty in realization. The horizontal running mechanism 6 is controlled by two-stage compensation speed changing methods, the speeds of the horizontal running mechanism 6 in the acceleration stage and the deceleration stage are respectively controlled, and the anti-shaking in the acceleration stage and the deceleration stage can be realized. The embedded module 2 adopts a high-performance ARM processor as a main processor, has high operation speed, supports various communication protocols and interfaces of MODBUS, PROFIBUS and Ethernet, can be compatible with the programmable controller 3 of most bridge cranes in the market, is convenient to install, does not need to transform the existing bridge crane electrical equipment on a large scale, and saves the expenditure cost.
The above description is intended to describe in detail the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the claims of the present invention, and all equivalent changes and modifications made within the technical spirit of the present invention should fall within the scope of the claims of the present invention.
Claims (10)
1. An embedded anti-swing method of a bridge crane is characterized in that: the method comprises the following steps:
step S1: the bridge crane system comprises a lifting rope encoder, an embedded module, a programmable controller, a frequency converter, a lifting operation mechanism and a horizontal operation mechanism, wherein the lifting rope encoder is connected with the embedded module, the embedded module is connected with the programmable controller, and the programmable controller controls the frequency converter to drive the lifting operation mechanism and the horizontal operation mechanism to move;
step S2, establishing a mathematical model about the anti-shaking acceleration of the horizontal running mechanism when the bridge crane runs in the embedded module;
step S3, hoisting the hoisted object by the lifting operation mechanism, and measuring the real-time length of the hoisting rope of the bridge crane and the total mass of the hoisted object by the embedded module through a hoisting rope encoder;
step S4, based on the real-time length of the lifting rope and the total mass of the lifted object, the embedded module obtains a function formula a (t) of the anti-rolling acceleration and the time of the horizontal running mechanism through a mathematical model of the anti-rolling acceleration of the horizontal running mechanism;
step S5, based on the function formula of the anti-shake acceleration and the time of the horizontal running mechanism, the embedded module obtains the function formula v (t) of the speed and the time of the horizontal running mechanism, and transmits the running speed signal of the horizontal running mechanism at the corresponding time to the programmable controller according to the function formula v (t) of the speed and the time of the horizontal running mechanism;
and step S6, the programmable controller drives the horizontal running mechanism to run at the received speed through the frequency converter according to the received speed signal of the horizontal running mechanism.
2. The embedded anti-swing method of a bridge crane according to claim 1, characterized in that: the mathematical model in step S2 is:
wherein m is the total mass of the hoisted object, l is the length of a hoisting rope of the bridge crane, g is the local gravity acceleration, theta is the angle generated by the hoisting rope and a vertical center, is the damping ratio coefficient of the hoisted object in the swinging process, a is the acceleration of the horizontal running mechanism, and t is the running time of the horizontal running mechanism.
3. The embedded anti-rolling method for the bridge crane according to claim 2, wherein: and (3) obtaining a function theta (t) of the swinging angle theta of the suspended object and the time t after the mathematical model is subjected to Laplace transform arrangement:
wherein theta is0The maximum allowable swing angle of the swing system in a balanced state, and the motion period of theta (t) is as follows:
4. the embedded anti-rolling method for the bridge crane according to claim 3, wherein: the horizontal running mechanism in the step S5 adopts two-stage compensation shift control including the compensation shift of the acceleration stage and the compensation shift and deceleration stage of the horizontal running mechanism.
5. The embedded anti-rolling method for the bridge crane according to claim 4, wherein: the function formula a (t) of the anti-shaking acceleration and the time of the horizontal running mechanism is as follows:
6. the embedded anti-rolling method for the bridge crane according to claim 5, wherein: the formula v (t) of the speed and time function of the horizontal running mechanism in the acceleration stage is as follows:
7. the embedded anti-rolling method for the bridge crane according to claim 5, wherein: the formula v (t) of the speed of the horizontal running mechanism in the deceleration stage and the time is as follows:
8. the embedded anti-swing method of a bridge crane according to claim 1, characterized in that: the embedded module adopts a high-performance ARM processor as a main control processor.
9. The embedded anti-swing method of a bridge crane according to claim 1, characterized in that: the embedded module is connected with the programmable controller through one or more communication interfaces of MODBUS, PROFIBUS or industrial Ethernet.
10. The embedded anti-swing method of a bridge crane according to claim 1, characterized in that: a plurality of gears are preset in the bridge crane system, and the embedded module calculates anti-shaking speed signals of different gear states and transmits the anti-shaking speed signals to the programmable controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010224191.5A CN111392591B (en) | 2020-03-26 | 2020-03-26 | Embedded anti-swing method for bridge crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010224191.5A CN111392591B (en) | 2020-03-26 | 2020-03-26 | Embedded anti-swing method for bridge crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111392591A true CN111392591A (en) | 2020-07-10 |
| CN111392591B CN111392591B (en) | 2022-04-19 |
Family
ID=71427662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010224191.5A Active CN111392591B (en) | 2020-03-26 | 2020-03-26 | Embedded anti-swing method for bridge crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111392591B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2455809A1 (en) * | 1979-04-30 | 1980-11-28 | Hofsass P | Electromotor with encapsulated thermal protection switch - is built into slot closure piece of stator and rotor winding slots |
| CN102175442A (en) * | 2011-02-15 | 2011-09-07 | 上海海事大学 | Simulation test system for double-lifting double-hoister bridge crane |
| CN102442611A (en) * | 2011-12-29 | 2012-05-09 | 大连华锐重工集团股份有限公司 | Crane control system and implementation method thereof |
| CN106365043A (en) * | 2016-09-12 | 2017-02-01 | 同济大学 | Bridge crane half-open-loop constant-speed anti-swing control method |
| CN108190747A (en) * | 2018-02-16 | 2018-06-22 | 广西建工集团智慧制造有限公司 | A kind of tower crane lift hook prevents the technology of waving |
| CN110054086A (en) * | 2019-05-15 | 2019-07-26 | 合肥市春华起重机械有限公司 | A kind of gate-type conveyer anti-sway device and its tele-control system |
-
2020
- 2020-03-26 CN CN202010224191.5A patent/CN111392591B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2455809A1 (en) * | 1979-04-30 | 1980-11-28 | Hofsass P | Electromotor with encapsulated thermal protection switch - is built into slot closure piece of stator and rotor winding slots |
| CN102175442A (en) * | 2011-02-15 | 2011-09-07 | 上海海事大学 | Simulation test system for double-lifting double-hoister bridge crane |
| CN102442611A (en) * | 2011-12-29 | 2012-05-09 | 大连华锐重工集团股份有限公司 | Crane control system and implementation method thereof |
| CN106365043A (en) * | 2016-09-12 | 2017-02-01 | 同济大学 | Bridge crane half-open-loop constant-speed anti-swing control method |
| CN108190747A (en) * | 2018-02-16 | 2018-06-22 | 广西建工集团智慧制造有限公司 | A kind of tower crane lift hook prevents the technology of waving |
| CN110054086A (en) * | 2019-05-15 | 2019-07-26 | 合肥市春华起重机械有限公司 | A kind of gate-type conveyer anti-sway device and its tele-control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111392591B (en) | 2022-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110316657B (en) | Anti-swing control system for crane weight and control method thereof | |
| CN110436347B (en) | Optimized anti-swing control method for double-swing system of bridge crane | |
| CN102849625A (en) | Spreader anti-sway controlling method of overhead traveling crane | |
| CN110775818B (en) | Crane anti-swing control method based on machine vision | |
| CN109896423B (en) | Time-varying nonlinear trolley-hoisting anti-swing control device and anti-swing control method | |
| CN105883615A (en) | Intelligent anti-swing control method for multi-section uniformly-variable-speed crane | |
| CN108584723B (en) | Crane open loop optimization is anti-to shake control method | |
| CN110294414B (en) | Crane control method based on open-loop anti-swing control algorithm | |
| CN101973489A (en) | Double-lifting bridge crane control system with image sensor and control method | |
| WO2023179583A1 (en) | Control method and apparatus for inhibiting swings of grab bucket, and device and storage medium | |
| CN108584700A (en) | Crane self-adaptive PID closed loop is anti-to shake control method | |
| CN101659376A (en) | PLC frequency-converting speed-governing control system for eliminating the swing of gantry crane goods | |
| CN210620028U (en) | Anti-swing control system for crane heavy object | |
| CN112408181A (en) | Real-time display monitoring device for preventing deviation angle of lifting hook from being inclined and shaking and crane | |
| CN112320595B (en) | Balance operation method for multi-lifting-point combined lifting wall cylinder of multiple cranes | |
| CN113321122B (en) | Layered nonsingular terminal sliding mode control method for crane double-pendulum system | |
| CN111392591B (en) | Embedded anti-swing method for bridge crane | |
| CN109795954B (en) | Computer control method for crane hook stabilization and crane | |
| CN111634814A (en) | Crane anti-swing control system for improving loading and unloading stability | |
| CN106938828B (en) | Crane and hoisting mechanism thereof | |
| CN116281601A (en) | Crane closed loop anti-swing method for detecting swing angle of crane lifting rope based on acceleration sensor | |
| CN114890313B (en) | Grab bucket anti-shake method based on fuzzy control | |
| CN202744238U (en) | Automatic balance control tower type crane | |
| CN1109164C (en) | Electric control system for multi-motor coaxial drive of launching vertically ship-lifting machine | |
| CN110775819B (en) | Anti-swing control method and system for tower crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |