CN112551374A - Rotary anti-swing control method of movable hoisting equipment - Google Patents

Rotary anti-swing control method of movable hoisting equipment Download PDF

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Publication number
CN112551374A
CN112551374A CN202011405463.8A CN202011405463A CN112551374A CN 112551374 A CN112551374 A CN 112551374A CN 202011405463 A CN202011405463 A CN 202011405463A CN 112551374 A CN112551374 A CN 112551374A
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suspension arm
weight
hoisting
point
swing
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CN112551374B (en
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吴邵庆
耿寅岑
费庆国
郑屹
李彦斌
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Southeast University
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Southeast University
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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
    • B66C13/18—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
    • 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

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

Abstract

The invention discloses a rotary anti-swing control method of movable hoisting equipment, which comprises the following steps: s1: establishing a simplified mechanical model of the mobile harbor crane; s2: performing dynamic analysis on the hoisting swing according to a Lagrange equation, and deriving a dynamic equation of the movement of the weight; s3: calculating the displacement of the suspension arm and the swing angle of the lifting weight according to the kinetic equation of the suspension arm and the lifting weight; s4: the PID controller is used for optimizing the value of the driving torque, so that the hoisting weight can quickly reach the designated position and the anti-swing control of the hoisting arm is realized. The dynamics analysis and anti-swing control based on the PID mobile hoisting equipment provided by the invention can enable the hoisting weight to run more stably when the hoisting arm rotates, and can quickly eliminate swing after reaching a specified position.

Description

Rotary anti-swing control method of movable hoisting equipment
Technical Field
The invention relates to the field of hoisting system transportation.
Background
The Mobile hoisting equipment is particularly a Mobile Harbor Crane, which is called Mobile Harbor Crane in English, and is usually abbreviated and abbreviated as MHC. The port equipment is flexible and efficient and is suitable for medium and small ports, and is used for carrying containers and bulk cargoes.
The operation process of the suspension arm mainly comprises single action and linkage of lifting control, amplitude variation control and a swing mechanism, and in the actual operation process, because the crane is an under-actuated device and independently controls the input variable freedom degree to be smaller than the system output variable freedom degree, the system can not obtain input excitation on all the freedom degrees, namely a crane driving system can not directly act on a suspension weight swing angle, so that the difficulty is brought to the quick and accurate positioning of the suspension weight.
For the dynamic analysis and anti-swing problems of port cranes, currently, portal jib cranes and shore bridge cranes are mainly focused, but the movement mode of the boom of the portal jib crane is greatly different from that of a mobile crane, and the method is not suitable for the dynamic analysis and anti-swing control of the mobile crane. The operation mode of the mobile port crane is different from that of a portal crane and a shore bridge crane, and in practical application, a mechanical model, a motion equation, mechanical simulation and anti-swing control technology of the latter is not suitable for the mobile port crane.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems in the prior art, the invention provides a rotation anti-swing control method of a mobile hoisting device.
The technical scheme is as follows: the invention provides a rotary anti-swing control method of movable hoisting equipment, which specifically comprises the following steps:
s1: establishing a simplified mechanical model of the mobile harbor crane;
s2: performing dynamic analysis on the swinging of the suspension arm and the hoisting weight based on Lagrange' S theorem and a mechanical model in S1 to obtain a dynamic equation of the suspension arm and the hoisting weight;
s3: calculating the displacement of the suspension arm and the swing angle of the lifting weight according to the kinetic equation of the suspension arm and the lifting weight;
s4: converting the driving force in the mechanical model into a step signal which can be identified by a computer, calculating the difference value between the step signal and the displacement of the suspension arm, taking the difference value as the input of a displacement PID controller, and controlling the displacement of the suspension arm by adopting the displacement PID controller so as to enable the suspension arm to quickly reach an appointed position; and calculating the difference value between the output signal of the displacement PID controller and the swing angle displacement of the hoisting weight, taking the difference value as the input of the swing angle PID controller, and controlling the swing amplitude of the hoisting weight by adopting the swing angle PID controller so as to control the stability of the hoisting weight.
Further, the constraint of the mechanical model in S1 is a complete constraint, the main force is an attractive force, and the model has two degrees of freedom; the mechanical model is specifically as follows: establishing a three-dimensional rectangular coordinate system by taking one end of the suspension arm connected with the crane body as an origin O, taking the other end of the suspension arm as a point A, taking the suspended weight as a point B, taking OA as the suspension arm, wherein OA can do rotary motion in an xOy plane in the three-dimensional rectangular coordinate system, and the suspended weight B can swing in a yOz plane of the three-dimensional rectangular coordinate system; the generalized coordinates in the mechanical model are
Figure RE-RE-GDA0002902603340000021
Where theta is the angle between OA and the x-axis,
Figure RE-RE-GDA0002902603340000022
is the angle between AB and the z-axis.
Further, S2 is specifically: calculating the position component of A, B point under the generalized coordinates:
xA＝a cosθ
yA＝a sinθ
zA＝0
xB＝a cosθ
Figure RE-RE-GDA0002902603340000023
Figure RE-RE-GDA0002902603340000024
wherein xAIs the position component of point A on the x-axis coordinate, yAIs the position component of point A on the y-axis coordinate, zAIs the position component of point A on the z-axis coordinate, a isThe length of the OA; x is the number ofBIs the position component of point B on the x-axis coordinate, yBIs the position component of point B on the y-axis coordinate, zBThe position component of the point B on the z-axis coordinate is shown, and B is the length of a steel wire rope connecting the suspension arm and the suspended weight, namely the distance between the point A and the point B;
calculating the velocity components of the points A and B as follows:
Figure RE-RE-GDA0002902603340000025
Figure RE-RE-GDA0002902603340000026
Figure RE-RE-GDA0002902603340000027
Figure RE-RE-GDA0002902603340000028
Figure RE-RE-GDA0002902603340000029
Figure RE-RE-GDA00029026033400000210
wherein
Figure RE-RE-GDA00029026033400000211
Is xAThe derivative of (a) of (b),
Figure RE-RE-GDA00029026033400000212
is yAThe derivative of (a) of (b),
Figure RE-RE-GDA00029026033400000213
is zAThe derivative(s) of the signal(s),
Figure RE-RE-GDA00029026033400000214
is the derivative of the value of theta and,
Figure RE-RE-GDA00029026033400000215
is xBThe derivative of (a) of (b),
Figure RE-RE-GDA00029026033400000216
is yBThe derivative of (a) of (b),
Figure RE-RE-GDA00029026033400000217
is zBThe derivative(s) of the signal(s),
Figure RE-RE-GDA00029026033400000218
is composed of
Figure RE-RE-GDA00029026033400000219
A derivative of (a);
based on the conditions:
Figure RE-RE-GDA00029026033400000220
and
Figure RE-RE-GDA00029026033400000221
and obtaining a dynamic equation of the suspension arm and the hoisting weight by Lagrange's theorem, wherein the dynamic equation of the suspension arm is as follows:
Figure RE-RE-GDA0002902603340000031
wherein
Figure RE-RE-GDA0002902603340000032
Is composed of
Figure RE-RE-GDA0002902603340000033
The derivative of (a) of (b),
Figure RE-RE-GDA0002902603340000034
is composed of
Figure RE-RE-GDA0002902603340000035
G is the gravitational acceleration;
the dynamic equation of the hoisting weight is as follows:
Figure RE-RE-GDA0002902603340000036
where M is the drive torque acting in the xOy plane at the origin O point.
Further, in S3, MATLAB is adopted to simulate the kinetic equations of the boom and the hoist weight respectively, so as to obtain the displacement of the boom and the swing angle of the hoist weight, specifically: based on a dynamic equation of the suspension arm, calculating the acceleration of theta by using a first fcn module in MATLAB, performing integral calculation on the calculation result of the first fcn module to obtain the angular velocity of theta, and performing integral calculation on the angular velocity of theta to obtain the displacement of theta, namely the displacement of the suspension arm; calculation using the second fcn Module in MATLAB based on the kinetic equations for the sling
Figure RE-RE-GDA0002902603340000037
Is obtained by integrating the calculation result of the second fcn block
Figure RE-RE-GDA0002902603340000038
Angular velocity of (A) of
Figure RE-RE-GDA0002902603340000039
Is subjected to integral calculation to obtain
Figure RE-RE-GDA00029026033400000310
I.e. the swing angle of the hoist.
Has the advantages that: the invention builds a mechanical model which accords with the real rotation condition of the mobile port crane, and obtains a dynamic equation which better accords with the real motion track of the crane based on the mechanical model.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a simplified model diagram of the mechanics of a mobile harbor crane;
FIG. 3 is a diagram of a dynamic simulation algorithm structure of the model;
FIG. 4 is a diagram of a simulink simulation model of a crane;
FIG. 5 is a graph of unit step signals;
FIG. 6 is a graph showing a variation of a boom rotation angle θ;
FIG. 7 shows the boom rotation speed
Figure RE-RE-GDA0002902603340000041
A variation graph;
FIG. 8 shows a swing angle of the hoist
Figure RE-RE-GDA0002902603340000042
A variation graph;
FIG. 9 shows the swing speed of the hoist
Figure RE-RE-GDA0002902603340000043
A variation graph;
FIG. 10 is a schematic diagram of a simulink simulation model of a crane after PID control;
FIG. 11 is a diagram illustrating a change curve of a boom rotation angle θ after PID control;
FIG. 12 shows the rotating speed of the boom after PID control
Figure RE-RE-GDA0002902603340000044
A variation graph;
FIG. 13 shows the swing angle of the hoist after PID control
Figure RE-RE-GDA0002902603340000045
A variation graph;
FIG. 14 shows the swing speed of the hoist after PID control
Figure RE-RE-GDA0002902603340000046
The graph is varied.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
The invention is further described below with reference to the figures and examples.
As shown in fig. 1, the present embodiment provides a rotation anti-swing control method for a mobile hoisting device, which specifically includes the following steps:
s1: establishing a simplified mechanical model of the mobile harbor crane;
s2: performing dynamic analysis on the hoisting swing according to a Lagrange equation, and deriving a dynamic equation of the movement of the weight;
s3: performing dynamic simulation on the hoisting motion based on MATLAB, and solving the motion trail of the hoisting;
s4: the driving force even number value is optimized through the PID controller, and the anti-swing control of the hoisting weight and the hoisting arm is realized: calculating the difference between the step signal and the displacement of the suspension arm, calculating the deviation value between the difference value and the given value of the displacement PID controller, taking the deviation value as the input of the displacement PID controller, and controlling the displacement of the suspension arm by adopting the displacement PID controller so that the suspension arm quickly reaches the designated position; and calculating a difference value between an output signal of the displacement PID controller and a swing angle of the hoisting weight, calculating a deviation value between the difference value and a given value of the swing angle PID controller, taking the deviation value as the input of the swing angle PID controller, and controlling the swing angle of the hoisting weight by adopting the swing angle PID controller, thereby controlling the stability of the hoisting weight.
Preferably, the mechanical equation of S1 is shown in fig. 2, C is a point on the body where the wire rope is suspended, OA is a crane boom arm capable of performing a swing motion in the xOy plane, the wire rope connects C, A, B three points, and the hoisting weight B can swing in the yOz planeAnd (3) acting a moment M in the xOy plane on the point O to drive the suspension arm to rotate. OA length of a and mass of m1AB length is b, mass is m2Theta is the angle between OA and the x-axis,
Figure RE-RE-GDA0002902603340000051
the included angle between the AB axis and the z axis, namely the swing angle of the sling, the constraint of the model is complete constraint, the main force is potential force, the model has two degrees of freedom, and the generalized coordinate is selected as
Figure RE-RE-GDA0002902603340000052
Preferably, the S2 specifically includes a position component of the A, B point in the generalized coordinate:
Figure RE-RE-GDA0002902603340000053
wherein xAIs the position component of point A on the x-axis coordinate, yAIs the position component of point A on the y-axis coordinate, zAIs the position component of point A on the z-axis coordinate, and a is the length of OA; x is the number ofBIs the position component of point B on the x-axis coordinate, yBIs the position component of point B on the y-axis coordinate, zBThe position component of the point B on the z-axis coordinate is shown, and B is the length of AB; the velocity component at point A, B in generalized coordinates is:
Figure RE-RE-GDA0002902603340000054
wherein
Figure RE-RE-GDA0002902603340000055
Is xAThe derivative of (a) of (b),
Figure RE-RE-GDA0002902603340000056
is yAThe derivative of (a) of (b),
Figure RE-RE-GDA0002902603340000057
is zAThe derivative(s) of the signal(s),
Figure RE-RE-GDA0002902603340000058
is the derivative of the value of theta and,
Figure RE-RE-GDA0002902603340000059
is xBThe derivative of (a) of (b),
Figure RE-RE-GDA00029026033400000510
is yBThe derivative of (a) of (b),
Figure RE-RE-GDA00029026033400000511
is zBThe derivative(s) of the signal(s),
Figure RE-RE-GDA00029026033400000512
is composed of
Figure RE-RE-GDA00029026033400000513
A derivative of (a);
calculating the kinetic energy T of the mechanical model based on the coordinate component and the velocity component of A, B:
Figure RE-RE-GDA00029026033400000514
wherein JOAIs the moment of inertia of the boom OA.
Calculating the generalized force of the mechanical model:
order to
Figure RE-RE-GDA00029026033400000515
δ θ is 0, where δ is the virtual displacement (d
Figure RE-RE-GDA00029026033400000516
To exert force at
Figure RE-RE-GDA00029026033400000517
The virtual displacement produced at the angle, δ θ is the virtual displacement produced by the force at the angle θ), then there are
Figure RE-RE-GDA00029026033400000518
Obtain a force Q corresponding to theta1Comprises the following steps:
Figure RE-RE-GDA0002902603340000061
wherein g is the acceleration of gravity;
order to
Figure RE-RE-GDA0002902603340000062
δ θ ≠ 0, has δ W1M δ θ; computing
Figure RE-RE-GDA0002902603340000063
Corresponding force Q2Comprises the following steps:
Figure RE-RE-GDA0002902603340000064
applying the lagrange equation:
Figure RE-RE-GDA0002902603340000065
Figure RE-RE-GDA0002902603340000066
Figure RE-RE-GDA0002902603340000067
Figure RE-RE-GDA0002902603340000068
obtaining:
Figure RE-RE-GDA0002902603340000069
namely:
Figure RE-RE-GDA00029026033400000610
wherein
Figure RE-RE-GDA00029026033400000611
Is composed of
Figure RE-RE-GDA00029026033400000612
The derivative of (a) of (b),
Figure RE-RE-GDA00029026033400000613
is composed of
Figure RE-RE-GDA00029026033400000614
A derivative of (a);
Figure RE-RE-GDA00029026033400000615
Figure RE-RE-GDA00029026033400000616
Figure RE-RE-GDA00029026033400000617
Figure RE-RE-GDA00029026033400000618
obtaining:
Figure RE-RE-GDA0002902603340000071
simplifying the model, in practical operation, considering the safety of hoisting and transporting as much as possibleTo suppress swinging of the hoist at a small swing angle phi, i.e.
Figure RE-RE-GDA0002902603340000072
And
Figure RE-RE-GDA0002902603340000073
thus, the highly nonlinear system expressed by equations 1 and 2 can be linearly simplified; will be provided with
Figure RE-RE-GDA0002902603340000074
Substituting the formula 1 and the formula 2 to obtain the dynamic equation of the suspension arm as follows:
Figure RE-RE-GDA0002902603340000075
the dynamic equation of the hoisting weight is as follows:
Figure RE-RE-GDA0002902603340000076
preferably, S3 is a modeling simulation performed in simulink under MATLAB according to the motion equation of the system. In order to perform simulation calculation under a simulink environment, the kinematic equation of the system needs to be sorted, the highest differential term of the equation can only appear on one side of the equation, the coefficient is 1, and the highest differential term of each variable can only appear once, so that the simulation is performed in the simulink in order to facilitate conversion into a computer language:
Figure RE-RE-GDA0002902603340000077
the model shown in FIG. 3 is applied to Fcn module in simulink, and equation 3 is input to Fcn modules and integrated to obtain
Figure RE-RE-GDA0002902603340000078
The input variables are used as the input variables u (1), u (2), u (3) and u (4) and then substituted into the Fcn moduleM, a, b, M1, and M2 represent input amounts u (5), u (6), u (7), u (8), and u (9). The parameters of the Fcn and Fcn1 modules can be known according to the motion equation of the system as follows:
Fcn
((u(6)*u(2)*u(2)*sin(u(1))-9.8*u(3))*u(9)*u(6)*cos(u(1))-u(9)*u(6)*u(7)*u(4)*u(4)* cos(u(1))*u(3)-u(5))/(u(9)*u(6)*u(6)*cos(u(1))*cos(u(1))-0.33*u(8)*u(6)*u(6)-u(9)*u(6)*u(6) )
Fcn1
(u(9)*u(6)*u(7)*u(4)*u(4)*cos(u(1))*cos(u(1))*u(3)+u(5)*cos(u(1))-(u(6)*u(2)*u(2) *sin(u(1))-9.8*u(3))*(0.33*u(8)*u(6)+u(9)*u(6)))/(u(9)*u(6)*u(7)*cos(u(1))*cos(u(1))-(0.33 *u(8)*u(6)+u(9)*u(6))*u(7))。
and (3) packaging the modeling shown in the figure 3 into a Subsystem, as shown in figure 4, wherein Subsystem is a Subsystem module, converting the moment M into language unit pulse step excitation which can be recognized by a computer, inputting the unit pulse step excitation, wherein the length a of the suspension arm is 50, the length b of the rope is 10, the mass M1 of the suspension arm is 58, the mass M2 of the suspension arm is 10, adding five oscilloscopes, and observing input signals and output signals of the system. FIG. 5 is an input unit step signal, FIG. 6 is a variation curve of boom rotation angle θ, and FIG. 7 is a rotation speed of the boom
Figure RE-RE-GDA0002902603340000081
Change curve, FIG. 8 is the swing angle of the hoist
Figure RE-RE-GDA0002902603340000082
Change curve, FIG. 9 shows the swing speed of the hoist
Figure RE-RE-GDA0002902603340000083
A curve of variation.
According to simulation results, the established crane system model basically meets the actual conditions, but under the condition of no control, the stability time is too long, and the task of dispatching and transporting goods cannot be stably and safely completed in the actual operation process, so that the crane swing is necessarily optimized by controlling the rotating speed of the crane arm.
Preferably, the S4 is specifically: increase in simulinkTwo PID modules are added, one is a displacement PID controller, the other is a swing angle PID controller, as shown in figure 10, wherein the displacement PID controller mainly controls a parameter theta, and the swing PID controller mainly controls a parameter theta
Figure RE-RE-GDA0002902603340000084
Therefore, the purpose that the crane quickly reaches a stable state is achieved.
Both PID controllers perform PID adjustments based on the following formula:
Figure RE-RE-GDA0002902603340000085
wherein e (t) is the input of the controller, u (t) is the output of the controller, KPIs a proportionality coefficient, KIIs the integral coefficient, KDIs a differential coefficient; calculating the difference value between the step signal and the boom displacement, and taking the difference value as the input of a displacement PID controller; and calculating the difference value between the output signal of the displacement PID controller and the hoisting swing angle, and taking the difference value as the input of the swing angle PID controller.
PID parameter adjustment, and obtaining optimized parameters through multiple times of debugging, wherein the optimized parameters are shown in a table 1:
TABLE 1
Figure RE-RE-GDA0002902603340000086
FIG. 11 is a change curve of boom rotation angle θ after PID control, and FIG. 12 is a change curve of boom rotation speed after PID control
Figure RE-RE-GDA0002902603340000091
Change curve, FIG. 13 shows the swing angle of the hoist after PID control
Figure RE-RE-GDA0002902603340000092
Change curve, FIG. 14 shows the swing speed of the hoist after PID control
Figure RE-RE-GDA0002902603340000093
A curve of variation.
As can be seen from the above four figures, the crane will quickly recover to a stable state after reaching a specified displacement through PID optimization control.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims (4)

1. A rotation anti-swing control method of a mobile hoisting device is characterized by comprising the following steps:
s1: establishing a simplified mechanical model of the mobile harbor crane;
s2: performing dynamic analysis on the swinging of the suspension arm and the hoisting weight based on Lagrange' S theorem and a mechanical model in S1 to obtain a dynamic equation of the suspension arm and the hoisting weight;
s3: calculating the displacement of the suspension arm and the swing angle of the lifting weight according to the kinetic equation of the suspension arm and the lifting weight;
s4: converting the driving force in the mechanical model into a step signal which can be identified by a computer, calculating the difference value between the step signal and the displacement of the suspension arm, taking the difference value as the input of a displacement PID controller, and controlling the displacement of the suspension arm by adopting the displacement PID controller so as to enable the suspension arm to quickly reach an appointed position; and calculating the difference value between the output signal of the displacement PID controller and the swing angle of the hoisting weight, taking the difference value as the input of the swing angle PID controller, and controlling the swing amplitude of the hoisting weight by adopting the swing angle PID controller so as to control the stability of the hoisting weight.
2. The method of claim 1, wherein the constraint of the mechanical model in S1 is a complete constraint, the main force is an potential force, and the model has two degrees of freedom; the mechanical model is specifically as follows: establishing a three-dimensional rectangular coordinate system by taking one end of the suspension arm connected with the crane body as an original point O, taking the other end of the suspension arm as a point A, taking the hoisting weight as a point B, taking OA as the suspension arm, and enabling OA to be in the three-dimensional rectangular coordinate systemThe crane weight B can swing in the yOz plane of the three-dimensional rectangular coordinate system; the generalized coordinates in the mechanical model are
Figure FDA0002813968530000011
Where theta is the angle between OA and the x-axis,
Figure FDA0002813968530000012
is the angle between AB and the z-axis.
3. The rotation anti-swing control method of the mobile lifting device according to claim 2, wherein the step S2 specifically comprises: calculating the position component of A, B point under the generalized coordinates:
xA＝a cosθ
yA＝a sinθ
zA＝0
xB＝a cosθ
Figure FDA0002813968530000013
Figure FDA0002813968530000014
wherein xAIs the position component of point A on the x-axis coordinate, yAIs the position component of point A on the y-axis coordinate, zAIs the position component of point A on the z-axis coordinate, and a is the length of OA; x is the number ofBIs the position component of point B on the x-axis coordinate, yBIs the position component of point B on the y-axis coordinate, zBThe position component of the point B on the z-axis coordinate is shown, and B is the length of a steel wire rope connecting the suspension arm and the suspended weight, namely the distance between the point A and the point B;
calculating the velocity components of the points A and B as follows:
Figure FDA0002813968530000021
Figure FDA0002813968530000022
Figure FDA0002813968530000023
Figure FDA0002813968530000024
Figure FDA0002813968530000025
Figure FDA0002813968530000026
wherein
Figure FDA0002813968530000027
Is xAThe derivative of (a) of (b),
Figure FDA0002813968530000028
is yAThe derivative of (a) of (b),
Figure FDA0002813968530000029
is zAThe derivative(s) of the signal(s),
Figure FDA00028139685300000210
is the derivative of the value of theta and,
Figure FDA00028139685300000211
is xBThe derivative of (a) of (b),
Figure FDA00028139685300000212
is yBThe derivative of (a) of (b),
Figure FDA00028139685300000213
is zBThe derivative(s) of the signal(s),
Figure FDA00028139685300000214
is composed of
Figure FDA00028139685300000215
A derivative of (a);
based on the conditions:
Figure FDA00028139685300000216
and
Figure FDA00028139685300000217
and obtaining a dynamic equation of the suspension arm and the hoisting weight by Lagrange's theorem, wherein the dynamic equation of the suspension arm is as follows:
Figure FDA00028139685300000218
wherein
Figure FDA00028139685300000219
Is composed of
Figure FDA00028139685300000220
The derivative of (a) of (b),
Figure FDA00028139685300000221
is composed of
Figure FDA00028139685300000222
G is the gravitational acceleration;
the dynamic equation of the hoisting weight is as follows:
Figure FDA00028139685300000223
where M is the drive torque acting in the xOy plane at the origin O point.
4. The rotation anti-swing control method of the mobile hoisting equipment according to claim 2, wherein in S3, the dynamic equations of the boom and the hoist weight are simulated by using MATLAB, so as to obtain the displacement of the boom and the swing angle of the hoist weight, specifically: based on a dynamic equation of the suspension arm, calculating the acceleration of theta by using a first fcn module in MATLAB, performing integral calculation on the calculation result of the first fcn module to obtain the angular velocity of theta, and performing integral calculation on the angular velocity of theta to obtain the displacement of theta, namely the displacement of the suspension arm; calculation using the second fcn Module in MATLAB based on the kinetic equations for the sling
Figure FDA00028139685300000224
Is obtained by integrating the calculation result of the second fcn block
Figure FDA00028139685300000225
Angular velocity of (A) of
Figure FDA00028139685300000226
Is subjected to integral calculation to obtain
Figure FDA00028139685300000227
I.e. the swing angle of the hoist.
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