CN112209236B - Anti-swing control method for unmanned vehicle with variable rope length - Google Patents

Anti-swing control method for unmanned vehicle with variable rope length Download PDF

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CN112209236B
CN112209236B CN202011085775.5A CN202011085775A CN112209236B CN 112209236 B CN112209236 B CN 112209236B CN 202011085775 A CN202011085775 A CN 202011085775A CN 112209236 B CN112209236 B CN 112209236B
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acceleration
stage
speed
crane
time
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CN112209236A (en
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徐海
刘承思
袁方海
廖济红
查铂
郑祎
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Hunan Tianqiao Jiacheng Intelligent Technology Co ltd
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Hunan Tianqiao Jiacheng Intelligent Technology Co ltd
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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
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/14—Trolley or crane travel drives
    • 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
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention relates to the technical field of driving control, and discloses an unmanned driving anti-swing control method with variable rope length1And accelerated speed V1Time Tb of the second acceleration phase2And accelerated speed V2Time Tb of the first deceleration stage of the deceleration stage3And the speed V decelerated3And time Tb of the second deceleration stage4(ii) a The PLC calculates the real-time speed of the travelling crane and the lifting height of the lifting weight according to a built-in control program to control the frequency converter to drive a corresponding motor to control the travelling crane and the lifting or descending of the lifting weight in real time, so that the travelling crane control and lifting weight positioning time is within a lifting weight swing period, the travelling crane positioning precision is less than or equal to +/-50 mm, and the lifting weight swing angle is controlled within +/-0.6 degrees.

Description

Anti-swing control method for unmanned vehicle with variable rope length
Technical Field
The invention relates to the technical field of running control, in particular to an anti-swing control method for an unmanned running vehicle with a variable rope length.
Background
The trolley of the rope type travelling crane is connected with the lifting appliance by adopting a flexible steel rope, so that the dynamic load of the crane is reduced, the flexibility of loading and unloading goods of the crane is improved, and the power consumption of the system is reduced; but the movement of the crane causes the hoisting weight connected with the flexible steel rope and the swinging of the hoisting tool, so that the hoisting weight is difficult to align accurately; in addition, during the operation of the crane, the lifting weight is frequently lifted and put down, and the length of the lifting rope is continuously changed, so that the lifting weight and the swinging parameters of the lifting appliance are changed, the difficulty of accurate alignment of the lifting weight is increased, and the working efficiency and the working quality are reduced. Meanwhile, the swinging crane can collide with surrounding objects or people, so that property loss and even casualties are caused, and certain potential safety hazards exist.
The unmanned travelling crane controls the travelling crane to travel through a Programmable Logic Controller (PLC), so that the manpower is saved, but if no anti-swing system specially aiming at variable rope length and transmission system characteristics is arranged, the lifting weight still greatly swings when the unmanned travelling crane reaches a target position or in the process of carrying, so that the grabbing and unloading operation of the lifting appliance to materials cannot be safely and effectively carried out; if the PLC adopts a slow speed regulation method, the hoisting swing amplitude can be theoretically reduced, but the positioning time of the traveling crane to the target position is too long, the swing suppression effect of the method is not ideal, and the working efficiency cannot be substantially improved.
Disclosure of Invention
The invention solves the technical problem of overcoming the defects of the prior art and provides the rope length variable unmanned aerial vehicle anti-swing control method which can overcome the influence of the change of the rope length on the swing parameters of the hoisting weight in the hoisting process of the unmanned aerial vehicle and can meet the requirement that the unmanned aerial vehicle can quickly and accurately reach the target position.
The purpose of the invention is realized by the following technical scheme:
an unmanned travelling crane anti-swing control method with variable rope length is characterized in that a winding drum and a lifting rope hoisting mechanism are arranged on an unmanned travelling crane trolley; the cart is driven by the cart frequency converter to work by the cart walking motor, the trolley is driven by the trolley frequency converter to work by the trolley walking motor, the winding drum is driven by the winding drum driver to work by the winding drum motor, the cart frequency converter, the trolley frequency converter and the winding drum driver are all communicated with the PLC of the unmanned vehicle controller, the winding drum is provided with a rope length measuring device in signal connection with the PLC, the rope length measuring device is used for measuring the length of a lifting rope in real time and detecting the vertical movement speed of the lifting weight, and the PLC calculates the time required for controlling the acceleration/deceleration of the travelling crane and the horizontal movement speed of the cart by obtaining the real-time rope length of the lifting weight and the ascending/descending movement speed of the lifting weight to control the horizontal movement of.
Further, the driving acceleration comprises a first acceleration stage and a second acceleration stage, the driving deceleration comprises a first deceleration stage and a second deceleration stage, and the control flow of each stage comprises the following steps:
s1, a preparation stage: the PLC receives the running task instruction, obtains the traveling and safety requirements of the current task, and calculates the lifting height of the crane, the time required by traveling acceleration/deceleration and the speed V for finishing the first acceleration stage1Speed V at the end of the second acceleration phase2Speed V at the end of the first deceleration phase3Meanwhile, the lifting rope hoisting mechanism is controlled to lift the hoisting weight to a constant speed;
s2, a first acceleration stage: the PLC acquires the length L of the rope when the hoisting starts to accelerate1And a constant rising speed kPCalculating the time required by the first acceleration stage of the traveling crane
Figure BDA0002720330140000021
Wherein g is the acceleration of gravity; starting at the moment when the traveling crane starts to accelerate to 0;
driving at time [0, Tb ]1]Internal acceleration a1(t) acceleration from speed 0 to V1In the first acceleration process, the output control parameter of the PLC anti-swing control program is
Figure BDA0002720330140000022
Wherein the acceleration a1(t) should satisfy
Figure BDA0002720330140000023
S3, a second acceleration stage: PLC acquires Tb1Hoisting rope length L at any moment2And a rising speed kPAnd calculating the time required by the second acceleration stage of the travelling crane
Figure BDA0002720330140000024
Wherein g is the acceleration of gravity;
driving time [ Tb ]1，(Tb1+Tb2)]Internal acceleration a2(t) Slave velocity V1Accelerate to V2In the second acceleration process, the output control parameter of the PLC anti-swing control program is
Figure BDA0002720330140000025
Wherein the acceleration a2(t) satisfies
Figure BDA0002720330140000026
S4, a first deceleration stage: when the travelling crane moves to a position close to the target position, the travelling crane is in constant-speed running and starts to reduce the hoisting weight; when the hoisting weight descends at a constant speed, the travelling crane starts to operate in a speed reduction mode, and the PLC acquires the rope length L of the hoisting weight when the travelling crane starts to decelerate3And a falling speed kQAnd calculating the time required by the first deceleration stage of the travelling crane
Figure BDA0002720330140000027
Wherein g is the acceleration of gravity, k when the hoist weight is loweredQ<0; starting at the moment when the traveling crane starts to decelerate to 0;
time of driving [0, Tb ]3]Internal acceleration of a3(t) Slave velocity V2Decelerating to V3In the first deceleration process, the output control parameter of the PLC anti-swing control program is
Figure BDA0002720330140000031
Wherein the acceleration a3(t) satisfies
Figure BDA0002720330140000032
S5, a second deceleration stage: PLC acquires Tb3Hoisting rope length L at any moment4And a falling speed kQCalculatingTime required for the second deceleration stage of the vehicle
Figure BDA0002720330140000033
Wherein g is the acceleration of gravity, k when the hoist weight is loweredQ<0；
Driving time [ Tb ]3，(Tb3+Tb4)]Internal acceleration a4(t) Slave velocity V3Decelerating to 0 and running at time [ Tb ]3～(Tb3+Tb4)]Stage by acceleration a4(t) Slave velocity V3Decelerating to 0; the output control parameter of the PLC anti-swing control program in the second deceleration process is
Figure BDA0002720330140000034
Wherein the acceleration a4(t) satisfies
Figure BDA0002720330140000035
S6, at Tb3+Tb4And at the moment, the travelling crane reaches the target position, the horizontal speed of the hoisting weight is 0, and the PLC controls the winding drum to continuously reduce the hoisting weight according to the safety and operation requirements until the hoisting weight is put down.
Furthermore, V is set when the horizontal speed of the vehicle reaches the set value in the first acceleration stage, the second acceleration stage and the first deceleration stage respectively1，V2And V3Namely ending the acceleration or deceleration operation and entering the uniform motion until the end of each stage.
Still further, the acceleration a1(t)、a2(t)、a3(t) and a4(t) is a time-varying acceleration function that gradually decreases toward 0.
Furthermore, when the traveling crane is far away from the target position, a constant speed stage exists between S3 and S4, and the traveling crane is at the speed V2And moving the crane to a target position, and adjusting the height of the crane by the winding drum according to the running safety requirement of the current task.
Compared with the prior art, the invention has the following beneficial effects:
the positioning time of the travelling crane and the hoisting weight is controlled within a hoisting weight swing period, the travelling speed of the travelling crane is controlled by the real-time converted acceleration and the motor running speed, the unmanned travelling crane can quickly and accurately reach and stop at a target position, the material handling operation is quickly completed, the swinging angle of the hoisting weight is close to zero or equal to zero in the travelling operation of the unmanned travelling crane or after the unmanned travelling crane reaches the target position, and the stable and reliable operation of the unmanned travelling crane is ensured;
through engineering practice, the control method can ensure that the final driving positioning precision is less than or equal to +/-50 mm and the hoisting swing angle is controlled within +/-0.6 degrees.
Drawings
Fig. 1 is a flowchart of the control method for preventing swinging of the unmanned vehicle with variable rope length in embodiment 1.
Detailed Description
The present invention will be further described with reference to the following detailed description, wherein the drawings are provided for illustrative purposes only and are not intended to be limiting; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Example 1
A rope length variable unmanned crane anti-swing control method is characterized in that a winding drum and a lifting rope hoisting mechanism are arranged on an unmanned crane trolley, the trolley drives a trolley running motor to work by a trolley frequency converter, the winding drum drives a winding drum motor to work by a winding drum driver, the trolley frequency converter and the winding drum driver are all communicated with a PLC of an unmanned crane controller, wherein a rope length measuring device connected with the PLC is arranged on the winding drum and used for measuring the length of a lifting rope in real time and detecting the vertical movement speed of the lifting weight, the PLC calculates the time required for controlling the acceleration/deceleration of the crane and the horizontal movement speed of the trolley by acquiring the real-time rope length of the lifting weight and the ascending/descending movement speed of the lifting weight to control the horizontal movement of the crane, so as to realize that the positioning time of the crane (i.e. the unmanned crane) and the lifting weight is within a lifting weight swing period, the swinging angle of the hoisting weight is close to zero or equal to zero when the unmanned travelling crane runs or reaches the target position, and meanwhile, the unmanned travelling crane can quickly and accurately reach and stop at the target position to quickly finish material carrying operation.
Specifically, the driving acceleration includes a first acceleration stage and a second acceleration stage, the driving deceleration includes a first deceleration stage and a second deceleration stage, and the anti-sway control method is shown in fig. 1 and includes the following steps:
s1, a preparation stage: the PLC receives the running task instruction, obtains the running and safety requirements of the current task (the safety requirements refer to that the corresponding working state adjustment is timely made for avoiding obstacles or people in the running process of the running vehicle), and calculates the lifting height required by the crane, the time required by the acceleration/deceleration of the running vehicle and the speed V at the end of the first acceleration stage1Speed V at the end of the second acceleration phase2Speed V at the end of the first deceleration phase3Meanwhile, the lifting rope hoisting mechanism is controlled to lift the hoisting weight to a constant speed;
s2, a first acceleration stage: the PLC acquires the length L of the rope when the hoisting starts to accelerate1And a constant rising speed kPCalculating the time required by the first acceleration stage of the traveling crane
Figure BDA0002720330140000041
Wherein g is the acceleration of gravity;
the starting point is the moment when the travelling crane starts to accelerate to 0, the length of the lifting rope is continuously reduced due to the fact that the lifting weight uniformly rises on the lifting mechanism, namely the swing length of the running of the simple pendulum is continuously reduced, the period of the simple pendulum is continuously reduced, Tb1Just is the half period of the simple pendulum, and the heavy pendulum is hung to the maximum height;
driving at time [0, Tb ]1]Internal acceleration a1(t) acceleration from speed 0 to V1In the first acceleration process, the output control parameter of the PLC anti-swing control program is
Figure BDA0002720330140000051
Wherein the acceleration a1(t) should satisfy
Figure BDA0002720330140000052
The greater than sign in the formula indicates that when the running speed reaches V1Namely ending the acceleration operation and entering the uniform motion to keep V1Not changed until the time reaches Tb1Ending the acceleration phase;
in [0, Tb ]1]In time, as the lifting appliance and the trolley are connected by the flexible rope, the horizontal speed of the lifting weight is less than the moving speed of the travelling crane, the horizontal displacement of the lifting weight is also less than the displacement of the travelling crane, the lifting weight swings backwards relative to the travelling crane, and the backward swing angle is increased; because the oblique tension of the rope generates forward acceleration on the hoisting weight, the hoisting weight continuously accelerates to move forwards; at Tb1At the moment, the horizontal speed of the vehicle reaches V1While the horizontal speed of the hoisting weight also reaches V1The hoisting weight swings backwards to the maximum angle;
specifically, at time [0, Tb1]In the process, the hoisting weight performs the simple pendulum operation of swinging backwards relative to the traveling crane, and the horizontal acceleration of the hoisting weight is a0(t) gtan θ, θ is the included angle between the lifting appliance and the vertical direction; when the hoisting weight swings to the highest point, the horizontal speed of the hoisting weight is equal to the horizontal speed of the travelling crane;
s3, a second acceleration stage: PLC acquires Tb1Hoisting rope length L at any moment2And a rising speed kPAnd calculating the time required by the second acceleration stage of the travelling crane
Figure BDA0002720330140000053
The lifting weight continuously rises at a constant speed, the length of the lifting rope continuously decreases, and Tb is provided1>Tb2；Tb1+Tb2The hoisting weight is just under the travelling crane at any moment, and a simple pendulum period is completed;
driving time [ Tb ]1，(Tb1+Tb2)]Internal acceleration a2(t) Slave velocity V1Accelerate to V2In the second acceleration process, the output control parameter of the PLC anti-swing control program is
Figure BDA0002720330140000054
Wherein the acceleration a2(t) satisfies
Figure BDA0002720330140000055
The greater than sign indicates that when the running speed reaches V2When the speed is increased, the acceleration operation is finished, the constant speed motion is started, and the speed V is kept2Unchanged until the time reaches Tb1+Tb2The acceleration phase is ended.
At time [ Tb1，(Tb1+Tb2)]The hoisting weight is continuously accelerated by the rope, the horizontal speed of the hoisting weight is higher than the moving speed of the travelling crane, the hoisting weight swings forwards relative to the travelling crane from the maximum swing angle, and the backward swing angle is reduced; at Tb1+Tb2At the moment, the horizontal speed of the vehicle reaches V2At this time, the hoisting weight is under the travelling crane, and the speed also changes into V2When the horizontal acceleration of the hoisting weight is zero, the travelling crane and the hoisting weight keep relatively static and move forwards;
s4, a first deceleration stage: when the travelling crane moves to a position close to the target position, the travelling crane is in constant-speed running and starts to reduce the hoisting weight; when the hoisting weight descends at a constant speed, the travelling crane starts to operate in a speed reduction mode, and the PLC acquires the rope length L of the hoisting weight when the travelling crane starts to decelerate3And a falling speed kQAnd calculating the time required by the first deceleration stage of the travelling crane
Figure BDA0002720330140000061
When the hoist is lowered kQ<0；
Starting at the moment when the traveling crane starts to decelerate to 0, the traveling crane is at the time [0, Tb ]3]Internal acceleration of a3(t) Slave velocity V2Decelerating to V3In the first deceleration process, the output control parameter of the PLC anti-swing control program is
Figure BDA0002720330140000062
Wherein the acceleration a3(t) satisfies
Figure BDA0002720330140000063
Less than the mark means when the running speed reaches V3When the speed is reduced, the deceleration operation is finished, the uniform speed motion is entered, and the speed V is maintained3Unchanged until the time reaches Tb3Ending the deceleration phase;
at time [0, Tb3]The hoisting weight swings forwards from the position under the winding drum and at the position where the relative horizontal speed of the hoisting weight and the travelling crane is zero, the horizontal speed of the hoisting weight is higher than the moving speed of the travelling crane, the horizontal displacement of the hoisting weight is also higher than the displacement of the travelling crane, and the forward swing angle of the hoisting weight relative to the travelling crane is increased; at Tb3At the moment, the hanging weight swings to the maximum height, and the horizontal speed reaches V3；
S5, a second deceleration stage: PLC acquires Tb3Hoisting rope length L at any moment4And a falling speed kQAnd calculating the time required by the second deceleration stage of the travelling crane
Figure BDA0002720330140000064
When the hoist is lowered kQ<0；
Driving time [ Tb ]3，(Tb3+Tb4)]Internal acceleration a4(t) Slave velocity V3The speed is reduced to 0, and the output control parameters of the PLC anti-swing control program in the second speed reduction process are
Figure BDA0002720330140000065
Wherein the acceleration a4(t) satisfies
Figure BDA0002720330140000066
S6, at Tb3+Tb4And at the moment, the travelling crane reaches the target position, the horizontal speed of the hoisting weight is 0, and the PLC controls the winding drum to continuously reduce the hoisting weight according to the safety and operation requirements until the hoisting weight is put down.
When the traveling crane is far away from the target position, a constant speed running stage can be inserted between S3 and S4, and the traveling crane runs at a speed V2And moving the crane to a target position, and adjusting the height of the crane by the winding drum according to the running safety requirement of the current task.
In order to improve the transition between the first acceleration phase and the second acceleration phase, the transition between the first deceleration phase and the second deceleration phase and the stationarity of the stopping time of the second deceleration phase, the acceleration a1(t)、a2(t)、a3(t) and a4(t) is a time-varying acceleration function that gradually decreases towards 0, in this example each acceleration is a linear function of one degree, i.e. a (t) ak-kat, in the formula, akIs the initial acceleration of each stage, kaFor the slope of the acceleration function of each phase, it is ensured that at the end of each phase, the acceleration a1(t)≤0、a2(t)≤0、a3(t) is not less than 0 and a4And (t) is 0, wherein the sign smaller or larger indicates that the acceleration reaches 0, namely, the constant motion with the acceleration of 0 is kept, and the acceleration motion with the opposite acceleration is not carried out.
Aiming at the problem of swinging of the lifting weight of the unmanned travelling crane with variable rope length, the rope length detection device and the control program module are arranged in the PLC, so that the unmanned travelling crane can quickly reach a target position, and the swinging angle of the lifting weight in the lifting process or the target position is very small, the control method is practiced on scrap steel carrying equipment, and engineering tests show that the control method controls the positioning time of the travelling crane for decelerating to the target position to stop to be a lifting weight swinging period, can ensure that the material carrying and positioning precision of the unmanned travelling crane reaches less than or equal to +/-50 mm, and simultaneously controls the swinging angle of the lifting weight to be less than or equal to +/-0.6 degrees. The prior art cannot simultaneously satisfy the three effects, and the positioning time from deceleration to parking in the prior art is usually longer than two hoisting swing periods.
It should be understood that the above examples are only for clearly illustrating the technical solutions of the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (6)

1. An anti-swing control method for an unmanned travelling crane with variable rope length is characterized in that a winding drum and a lifting rope hoisting mechanism are arranged on an unmanned travelling crane trolley; the cart drives a cart walking motor to work through a cart frequency converter, the trolley drives a trolley walking motor to work through a trolley frequency converter, a winding drum drives a winding drum motor to work through a winding drum driver, the cart frequency converter, the trolley frequency converter and the winding drum driver are all communicated with a PLC (programmable logic controller) of an unmanned vehicle controller, a rope length measuring device in signal connection with the PLC is arranged on the winding drum and used for measuring the length of a lifting rope in real time and detecting the vertical movement speed of the lifting weight, and the PLC calculates the time required for controlling the acceleration/deceleration of the travelling crane and the horizontal movement speed of the cart to control the horizontal movement of the cart by obtaining the real-time rope length of the lifting weight and the ascending/descending movement speed of the lifting weight; the driving acceleration comprises a first acceleration stage and a second acceleration stage, the driving deceleration comprises a first deceleration stage and a second deceleration stage, and the control flow of each stage comprises the following steps:
s1, a preparation stage: the PLC receives the running task instruction, obtains the traveling and safety requirements of the current task, and calculates the lifting height of the crane, the time required by traveling acceleration/deceleration and the speed V for finishing the first acceleration stage1Speed V at the end of the second acceleration phase2Speed V at the end of the first deceleration phase3Meanwhile, the lifting rope hoisting mechanism is controlled to lift the hoisting weight to a constant speed;
s2, a first acceleration stage: the PLC acquires the length L of the rope when the hoisting starts to accelerate1And a constant rising speed kPCalculating the time Tb required by the first acceleration stage of the travelling crane1；
Driving at time [0, Tb ]1]Internal acceleration a1(t) acceleration from speed 0 to V1PLC according to a1(t) obtaining a control instruction for controlling the cart frequency converter in the first acceleration stage;
s3, a second acceleration stage: PLC acquires Tb1Hoisting rope length L at any moment2And a rising speed kPCalculating the time Tb required by the second acceleration stage of the travelling crane2；
Driving time [ Tb ]1，(Tb1+Tb2)]Internal acceleration a2(t) Slave velocity V1Accelerate to V2PLC according to a2(t) obtaining a control instruction for controlling the cart frequency converter at the second acceleration stage;
s4, a first deceleration stage: the travelling crane moves to approachWhen the crane is in the constant-speed running and starts to reduce the hoisting weight at the target position, when the hoisting weight descends at the constant speed, the crane starts to operate in a speed reduction mode, and the PLC acquires the rope length L of the hoisting weight when the crane starts to decelerate3And a falling speed kQCalculating the time Tb required by the first deceleration stage of the travelling crane3；
Time of driving [0, Tb ]3]Internal acceleration of a3(t) Slave velocity V2Decelerating to V3PLC according to a3(t) obtaining a control instruction for controlling the cart frequency converter in the first deceleration stage;
s5, a second deceleration stage: PLC acquires Tb3Hoisting rope length L at any moment4And a falling speed kQCalculating the time Tb required by the second deceleration stage of the travelling crane4；
Driving time [ Tb ]3，(Tb3+Tb4)]Internal acceleration a4(t) Slave velocity V3Decelerating to 0 by PLC according to a4(t) obtaining a control instruction for controlling the cart frequency converter in the second deceleration stage;
s6, at Tb3+Tb4And at the moment, the travelling crane reaches the target position, the horizontal speed of the hoisting weight is 0, and the PLC controls the winding drum to continuously reduce the hoisting weight according to the safety and operation requirements until the hoisting weight is put down.
2. The method for controlling swing prevention of an unmanned aerial vehicle with a variable rope length according to claim 1, wherein k is k when a hoist weight risesP>0, when the hoist weight is lowered kQ<0。
3. The method for controlling the swing prevention of the unmanned aerial vehicle with the variable rope length according to claim 1, wherein the acceleration a in the first acceleration stage1(t) satisfies
Figure FDA0003051840110000021
Acceleration a of the second acceleration phase2(t) satisfies
Figure FDA0003051840110000022
First decreaseAcceleration of the velocity phase a3(t) satisfies
Figure FDA0003051840110000023
Acceleration a of the second deceleration stage4(t) satisfies
Figure FDA0003051840110000024
4. The method according to claim 3, wherein V is set when the horizontal speed of the unmanned vehicle reaches a predetermined value in the first acceleration stage, the second acceleration stage and the first deceleration stage1，V2And V3Namely ending the acceleration or deceleration operation and entering the uniform motion until the end of each stage.
5. The method for controlling the swing prevention of the unmanned aerial vehicle with the variable rope length according to claim 3 or 4, wherein the acceleration a is1(t)、a2(t)、a3(t) and a4(t) is a time-varying acceleration function that gradually decreases toward 0.
6. The method for controlling the swing-proof of the unmanned traveling crane with variable rope length according to claim 1, wherein when the traveling crane is far away from the target position, a constant speed stage is arranged between S3 and S4, and the traveling crane is driven at a speed V2And moving the crane to a target position, and adjusting the height of the crane by the winding drum according to the running safety requirement of the current task.
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CN115490149A (en) * 2021-06-18 2022-12-20 上海宝信软件股份有限公司 Wave-proof swing control system suitable for unmanned vehicle and control method thereof
CN113979305B (en) * 2021-11-15 2024-01-30 湖南天桥嘉成智能科技有限公司 Multi-section acceleration and deceleration motion control method and system for swing prevention control of rope-length-variable unmanned traveling crane
CN114314337B (en) * 2021-12-16 2024-06-21 苏州西姆提纳米科技有限公司 Pendulum reduction control system for hoisting equipment in environmental protection industry and control method thereof

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