CN113979305B - Multi-section acceleration and deceleration motion control method and system for swing prevention control of rope-length-variable unmanned traveling crane - Google Patents
Multi-section acceleration and deceleration motion control method and system for swing prevention control of rope-length-variable unmanned traveling crane Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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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
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Abstract
The invention relates to the technical field of swing positioning, and discloses a swing-preventing control method and a swing-preventing control system for a rope-variable length unmanned driving controlled by multi-section acceleration and deceleration.
Description
Technical Field
The invention relates to the technical field of swing positioning, in particular to a swing-preventing control method and a swing-preventing control system for a rope-length-variable unmanned driving controlled by multistage acceleration and deceleration motion.
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 cargoes of the crane is improved, and the power consumption of the system is reduced; however, the motion of the travelling crane can cause the hanging weight and the swinging of the lifting appliance which are connected by the flexible steel rope, so that the hanging weight is difficult to accurately align; in addition, when the crane is in operation, the crane is frequently hoisted and put down, and the continuous change of the rope length of the lifting rope enables the crane and the swing parameters of the lifting appliance to be changed, so that the difficulty of accurate alignment of the crane is increased, and the working efficiency and the working quality are reduced. Meanwhile, the swinging hanging weight can collide with surrounding objects or personnel, so that property loss and even casualties are caused, and certain potential safety hazards exist.
The prior art comprises the following steps: CN202011631309.2 discloses a path planning and swing reducing control method for a four-rotor variable-rope-length suspension system, and the disclosed method makes the whole suspension system reach the expected position from the initial position in the shortest time by planning a proper plane movement track, and simultaneously keeps the swing angle of the load limited in a smaller range, thereby improving the transportation efficiency and ensuring the transportation safety.
In the prior art document, only the swing angle of the load can be kept within a small range, and the specific swing cannot be effectively controlled.
Disclosure of Invention
The invention solves the technical problem of overcoming the defects of the prior art and providing a swing-preventing control method and a swing-preventing control system for a rope-length-variable unmanned driving controlled by multistage acceleration and deceleration motion.
The aim of the invention is achieved by the following technical scheme:
a rope-length-variable unmanned driving anti-swing control method for multi-section acceleration and deceleration motion control utilizes multi-section acceleration and deceleration to effectively control speed, carries out speed interpolation on actual speed of each section of acceleration and deceleration operation, and timely adjusts speed deviation, thereby achieving the purposes of anti-swing and accurate positioning. The specific technical scheme is as follows:
a rope-length-variable unmanned driving anti-swing control method for multi-section acceleration and deceleration motion control comprises the following steps:
s1, positioning is started;
s2, first acceleration section parameters: calculating a first section of acceleration parameter and a T1 acceleration time length, and interpolating the speed according to time by the a1 acceleration;
s3, ending the first acceleration section: timing to reach T1;
s4, second acceleration section parameters: calculating a second section of acceleration parameter and a T2 acceleration duration, and interpolating the speed by the a2 acceleration according to time;
s5, ending the second acceleration section: timing to reach T2;
s6, third acceleration section parameters: calculating a third section of acceleration parameter and a T3 acceleration time length, and interpolating the speed according to time by the a3 acceleration;
s7, ending the third acceleration section: timing to reach T3;
s8, operating at a constant speed; calculating the time of the constant speed section according to the constant speed distance and the constant speed;
s9, first deceleration section parameters: calculating a first section of deceleration parameters and T4 deceleration duration, calculating a deceleration distance s5 by a4 acceleration, and uniformly decelerating during running;
s10, ending the first deceleration section: timing to T4;
s11, second deceleration section parameters: calculating a second section of deceleration parameter and T5 deceleration duration, and interpolating the speed according to time by the a5 acceleration;
s12, ending the second deceleration section: timing to T5;
s13, third deceleration section parameters: calculating a third section of deceleration parameter and T6 deceleration duration, and interpolating the speed by the a6 acceleration according to time;
s14, ending the third deceleration section: timing to T6;
s15, approaching a target position at a low speed;
s16, ending: reaching the target location.
Further, step S2 includes:
s20, calculating a first section of acceleration time length: first period of accelerationT is the current rope swing period;
s21, calculating the maximum acceleration: calculating the operable maximum accelerationWherein V1max is the maximum operating speed;
s22, calculating temporary acceleration: acceleration distancePositioning distance S, calculating temporary acceleration +.>Judging a1_temp>a1_max, if a1=a1_max, otherwise a1=a1_temp;
s23, running first-stage acceleration: the speed interpolation mode is adopted, and the output speed V=a 1 xT1_current, a1 is the calculated first-segment acceleration, T1_current is the timing of the current acceleration start, when T1_current>＝TAnd 1, entering a second section of acceleration operation.
Further, step S4 includes:
s40, calculating a second-section acceleration time lengthV1 is the speed at the end of the first section of acceleration, T is the current rope swing period, and T1 is the first section of acceleration duration;
s41, calculating the operable maximum accelerationWherein V2max is the maximum running speed, V1 is the speed at the end of the first section of acceleration, T is the current rope swing period, and T1 is the first section of acceleration duration;
s42, calculating temporary acceleration and remaining acceleration distanceS_currrn is the distance travelled, the temporary acceleration is calculated +.>V1 is the speed at the end of the first period of acceleration, and T2 is the second period of acceleration. Judging a2_temp>a2_max, if a2=a2_max, otherwise a2=a2_temp;
s43, running a second-stage acceleration: the speed interpolation mode is adopted, and the output speed V=V 1 +a 2 X T2-Current, V1 is the speed at the end of the first stage acceleration, a2 is the calculated first stage acceleration, T2-Current is the timing of the start of the second stage acceleration, when T2-Current>And when the value is T2, entering a third stage of acceleration operation.
Further, step S6 includes:
s60, calculating a third section of acceleration time length, wherein the third section of acceleration time length T3 = T-T1-T2, T is the current rope swing period, T1 is the first section of acceleration time length, and T2 is the second section of acceleration time length;
s61, calculating the maximum acceleration, and calculating the operable maximum accelerationWherein V3max is the maximum running speed, V2 is the speed at the end of the second section of acceleration, T is the current rope swing period, T1 is the first section of acceleration duration, and T2 is the second section of acceleration duration;
s62, calculating temporary acceleration, wherein a third section of acceleration distance S3=S-S_currant, S_currant is the running distance, and S is the total positioning distance;judging a3_temp>a3_max, if a3=a3_max, otherwise a3=a3_temp;
s63, running a third section of acceleration, wherein V=V by adopting a speed interpolation mode 2 +a 3 X T3-Current, V2 is the speed at the end of the second stage acceleration, a3 is the calculated third stage acceleration, T3-Current is the timing of the start of the third stage acceleration, when T3-Current>And when the operation is carried out in the constant speed section of the motor.
Further, step S9 includes:
s90, calculating a first-section deceleration duration, adopting three sections of deceleration, wherein each section is 1/3 of the period, and the first-section acceleration durationT is the current rope swing period;
s91, calculating deceleration: deceleration rateWhere V3 is the post acceleration speed, T is the current rope swing period,
s92, calculating a deceleration distance: distance of decelerationT is a swing period, V3 is the post-acceleration speed, and a4 is the first section of deceleration;
s93, running uniform speed: the constant speed running distance S4=S-S_Current-S5, the S total positioning distance, the S_Current currently positioned distance, the S5 deceleration distance, and the constant speed running at the speed V3 of ending the three-section acceleration within the S4 distance;
s94, a first-stage deceleration is operated, a speed interpolation mode is adopted, v=v3-a4×t4_current, a4 is the calculated first-stage deceleration, V3 is the post-acceleration speed, t4_current is the swing period timing of the start of acceleration, and when t4_current > =t4, the second-stage deceleration operation is entered.
Further, step S11 includes:
s110, calculating a second-section deceleration durationT is the current rope swing period, and T4 is the first deceleration duration;
s111, calculating the maximum deceleration and the decelerationV4 is the speed after the first section of speed reduction, and T is the current rope swing period;
and S112, running the second section of deceleration, adopting a speed interpolation mode, wherein V=V4-a5 is T5_current, a5 is the calculated second section of deceleration, V4 is a section of post-deceleration speed, T5_current is the swing period timing of starting acceleration, and entering the third section of deceleration operation when T5_current > =T5.
Further, step S13 includes:
s130, calculating a third-section deceleration duration, wherein the third-section deceleration duration T6= (T-T4-T5), T is the current rope swing period, T4 is the first-section deceleration duration, and T5 is the first-section deceleration duration;
s131, calculating the maximum deceleration: calculating deceleration a6=v5/T6, wherein V5 is the speed after the second-stage deceleration is completed, and T6 is the third-stage deceleration duration;
s132, a third stage of deceleration is operated, and a speed interpolation mode is adopted, v=v5-a6×t6_current, a6 is the calculated first stage of deceleration, V5 is the speed after two stages of deceleration, t6_current is the timing of starting operation, and when t6_current > =t6, low speed approaches to the target position.
Further, step S15 further includes stopping control when the target position is reached, so that the stop can be completely stopped when the target position is reached.
Further, in the uniform speed operation of step S8, the uniform speed timeTable S * Representing the uniform velocity distance, V 3 Indicating the third acceleration segment end speed.
A rope-length-variable unmanned driving anti-swing control system controlled by multistage acceleration and deceleration motion comprises the technical scheme that the rope-length-variable unmanned driving anti-swing control system controlled by multistage acceleration and deceleration motion comprises a rope-length-variable unmanned driving anti-swing control method controlled by multistage acceleration and deceleration motion.
Compared with the prior art, the invention has the following beneficial effects:
according to the method, the driving path is divided into three acceleration sections, one constant speed section and three deceleration sections, and speed control is carried out on each speed area section respectively; when the actual speed is different from the theoretical speed, the speed is interpolated, so that the actual speed of each speed area section is effectively controlled to be consistent with the set speed, the running accuracy is ensured, and the anti-swing effect is achieved.
Drawings
Fig. 1 is a flow chart of a swing-preventing control method of a rope-length-variable unmanned driving controlled by multistage acceleration and deceleration motion.
Detailed Description
The present invention will now be described further in connection with the following detailed description, wherein the drawings are for purposes of illustration only and are not intended to be limiting; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Example 1
The utility model provides a rope length-variable unmanned driving anti-swing control method for multistage acceleration and deceleration motion control, which comprises the following steps:
s1, positioning is started;
s2, first acceleration section parameters: calculating a first section of acceleration parameter and a T1 acceleration time length, and interpolating the speed according to time by the a1 acceleration;
s3, ending the first acceleration section: timing to reach T1;
s4, second acceleration section parameters: calculating a second section of acceleration parameter and a T2 acceleration duration, and interpolating the speed by the a2 acceleration according to time;
s5, ending the second acceleration section: timing to reach T2;
s6, third acceleration section parameters: calculating a third section of acceleration parameter and a T3 acceleration time length, and interpolating the speed according to time by the a3 acceleration;
s7, ending the third acceleration section: timing to reach T3;
s8, operating at a constant speed; calculating the time of the constant speed section according to the constant speed distance and the constant speed;
s9, first deceleration section parameters: calculating a first section of deceleration parameters and T4 deceleration duration, calculating a deceleration distance s5 by a4 acceleration, and uniformly decelerating during running;
s10, ending the first deceleration section: timing to T4;
s11, second deceleration section parameters: calculating a second section of deceleration parameter and T5 deceleration duration, and interpolating the speed according to time by the a5 acceleration;
s12, ending the second deceleration section: timing to T5;
s13, third deceleration section parameters: calculating a third section of deceleration parameter and T6 deceleration duration, and interpolating the speed by the a6 acceleration according to time;
s14, ending the third deceleration section: timing to T6;
s15, approaching a target position at a low speed;
s16, ending: reaching the target location.
The method comprises the steps of respectively controlling the speed of each speed area section by dividing a running path into three acceleration sections, a uniform speed section and three deceleration sections; when the actual speed is different from the theoretical speed, the speed is interpolated, so that the actual speed of each speed area section is effectively controlled to be consistent with the set speed, the running accuracy is ensured, and the anti-swing effect is achieved.
In order to further effectively control the operation speed of the acceleration section, the first section acceleration step S2 specifically includes:
s20, calculating a first section of acceleration time length: first period of accelerationT is the current rope swing period;
s21, calculating the maximum acceleration: calculating the operable maximum accelerationWherein V1max is the maximum operating speed;
s22, calculating temporary acceleration: acceleration distancePositioning distance S, calculating temporary acceleration +.>Judging a1_temp>a1_max, if a1=a1_max, otherwise a1=a1_temp;
s23, running first-stage acceleration: the speed interpolation mode is adopted, and the output speed V=a 1 xT1_current, a1 is the calculated first-segment acceleration, T1_current is the timing of the current acceleration start, when T1_current>And when the value is T1, the second stage acceleration operation is started.
The second stage acceleration step S4 includes:
s40, calculating a second-section acceleration time lengthV1 is the speed at the end of the first section of acceleration, T is the current rope swing period, and T1 is the first section of acceleration duration;
s41, calculating the operable maximum accelerationWherein V2max is the maximum running speed, V1 is the speed at the end of the first section of acceleration, T is the current rope swing period, and T1 is the first section of acceleration duration;
s42, calculating temporary acceleration and remaining acceleration distanceS_currrn is the distance travelled, the temporary acceleration is calculated +.>V1 is the speed at the end of the first period of acceleration, and T2 is the second period of acceleration. Judging a2_temp>a2_max, if a2=a2_max, otherwise a2=a2_temp;
s43, running a second-stage acceleration: the speed interpolation mode is adopted, and the output speed V=V 1 +a 2 X T2-Current, V1 is the speed at the end of the first stage acceleration, a2 is the calculated first stage acceleration, T2-Current is the timing of the start of the second stage acceleration, when T2-Current>And when the value is T2, entering a third stage of acceleration operation.
The third stage acceleration step S6 includes:
s60, calculating a third section of acceleration time length, wherein the third section of acceleration time length T3 = T-T1-T2, T is the current rope swing period, T1 is the first section of acceleration time length, and T2 is the second section of acceleration time length;
s61, calculating the maximum acceleration, and calculating the operable maximum accelerationWherein V3max is the maximum running speed, V2 is the speed at the end of the second section of acceleration, T is the current rope swing period, T1 is the first section of acceleration duration, and T2 is the second section of acceleration duration;
s62, calculating temporary acceleration, wherein a third section of acceleration distance S3=S-S_currant, S_currant is the running distance, and S is the total positioning distance;judging a3_temp>a3_max, if a3=a3_max, otherwise a3=a3_temp;
s63, running a third section of acceleration, wherein V=V by adopting a speed interpolation mode 2 +a 3 X T3_Current, V2 is the speed at the end of the second stage acceleration, a3 is the calculated firstThree acceleration periods, T3_current is the timing of the third acceleration period beginning when T3_current>And when the operation is carried out in the constant speed section of the motor.
And the acceleration in each accelerating section is confirmed by calculating and comparing the acceleration in each accelerating section, so that the running speed in each accelerating section is accurately controlled.
And when the third section is accelerated, entering a constant-speed operation section. Constant speed timeTable S * Representing the uniform velocity distance, V 3 Indicating the third acceleration segment end speed.
And after the uniform speed section is finished, the speed is reduced through three sections of speed reduction sections respectively until the target position is reached, and the speed is zero. The specific control of the three-section deceleration section is as follows:
the first deceleration section step S9 includes:
s90, calculating a first-section deceleration duration, adopting three sections of deceleration, wherein each section is 1/3 of the period, and the first-section acceleration durationT is the current rope swing period;
s91, calculating deceleration: deceleration rateWhere V3 is the post acceleration speed, T is the current rope swing period,
s92, calculating a deceleration distance: distance of decelerationT is a swing period, V3 is the post-acceleration speed, and a4 is the first section of deceleration;
s93, running uniform speed: the constant speed running distance S4=S-S_Current-S5, the S total positioning distance, the S_Current currently positioned distance, the S5 deceleration distance, and the constant speed running at the speed V3 of ending the three-section acceleration within the S4 distance;
s94, a first-stage deceleration is operated, a speed interpolation mode is adopted, v=v3-a4×t4_current, a4 is the calculated first-stage deceleration, V3 is the post-acceleration speed, t4_current is the swing period timing of the start of acceleration, and when t4_current > =t4, the second-stage deceleration operation is entered.
The second deceleration section S11 includes:
s110, calculating a second-section deceleration durationT is the current rope swing period, and T4 is the first deceleration duration;
s111, calculating the maximum deceleration and the decelerationV4 is the speed after the first section of speed reduction, and T is the current rope swing period;
and S112, running the second section of deceleration, adopting a speed interpolation mode, wherein V=V4-a5 is T5_current, a5 is the calculated second section of deceleration, V4 is a section of post-deceleration speed, T5_current is the swing period timing of starting acceleration, and entering the third section of deceleration operation when T5_current > =T5.
The third deceleration section S13 includes:
s130, calculating a third-section deceleration duration, wherein the third-section deceleration duration T6= (T-T4-T5), T is the current rope swing period, T4 is the first-section deceleration duration, and T5 is the first-section deceleration duration;
s131, calculating the maximum deceleration: calculating deceleration a6=v5/T6, wherein V5 is the speed after the second-stage deceleration is completed, and T6 is the third-stage deceleration duration;
s132, a third stage of deceleration is operated, and a speed interpolation mode is adopted, v=v5-a6×t6_current, a6 is the calculated first stage of deceleration, V5 is the speed after two stages of deceleration, t6_current is the timing of starting operation, and when t6_current > =t6, low speed approaches to the target position.
The running speed in each deceleration section is subjected to interpolation adjustment by calculating the deceleration and interpolating the speed, so that the motion is stopped just when the target position is reached, and the anti-swing function is achieved.
To further control the speed of the end target position to zero, some scram measures may be set when the end target position is reached, so that the speed of the end target position is controlled.
The invention also discloses a rope-length-variable unmanned driving anti-swing control system controlled by the multi-section acceleration and deceleration motion, which comprises all technical contents of the rope-length-variable unmanned driving anti-swing control method controlled by the multi-section acceleration and deceleration motion.
It is apparent that the above examples are only examples for clearly illustrating the technical solution of the present invention, and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (4)
1. The anti-swing control method for the rope-length-variable unmanned driving controlled by multi-section acceleration and deceleration motion is characterized by comprising the following steps of:
s1, positioning is started;
s2, operating a first acceleration section:
s20, calculating a first section of acceleration time length: first period of accelerationT is the current rope swing period;
s21, calculating the maximum acceleration: calculating the operable maximum accelerationWherein V1max is the maximum operating speed;
s22, calculating temporary acceleration: acceleration distancePositioning distance S, calculating temporary acceleration +.>Judging a1_temp>a1_max, if a1=a1_max, otherwise a1=a1_temp;
s23, running first-stage acceleration: the speed interpolation mode is adopted, and the output speed V=a 1 xT1_current, a1 is the calculated first-segment acceleration, T1_current is the timing of the current acceleration start, when T1_current>Entering a second stage acceleration operation when the value is T1;
s3, ending the first acceleration section: timing to reach T1;
s4, operating a second acceleration section:
s40, calculating a second-section acceleration time lengthV1 is the speed at the end of the first section of acceleration, T is the current rope swing period, and T1 is the first section of acceleration duration;
s41, calculating the operable maximum accelerationWherein V2max is the maximum running speed, V1 is the speed at the end of the first section of acceleration, T is the current rope swing period, and T1 is the first section of acceleration duration;
s42, calculating temporary acceleration and remaining acceleration distanceS_currrn is the distance travelled, the temporary acceleration is calculated +.>V1 is the speed at the end of the first section acceleration, T2 is the length of the second section acceleration, and a2_temp is judged>a2_max, if a2=a2_max, otherwise a2=a2_temp;
s43, running a second-stage acceleration: the speed interpolation mode is adopted, and the output speed V=V 1 +a 2 X T2-Current, V1 is the speed at the end of the first stage acceleration, a2 is the calculated first stage acceleration, T2-Current is the timing of the start of the second stage acceleration, when T2-Current>Enter into the first step when=T2Three sections of acceleration operation;
s5, ending the second acceleration section: timing to reach T2;
s6, operating a third acceleration section:
s60, calculating a third section of acceleration time length, wherein the third section of acceleration time length T3 = T-T1-T2, T is the current rope swing period, T1 is the first section of acceleration time length, and T2 is the second section of acceleration time length;
s61, calculating the maximum acceleration, and calculating the operable maximum accelerationWherein V3max is the maximum running speed, V2 is the speed at the end of the second section of acceleration, T is the current rope swing period, T1 is the first section of acceleration duration, and T2 is the second section of acceleration duration;
s62, calculating temporary acceleration, wherein a third section of acceleration distance S3=S-S_currant, S_currant is the running distance, and S is the total positioning distance;judging a3_temp>a3_max, if a3=a3_max, otherwise a3=a3_temp;
s63, running a third section of acceleration, wherein V=V by adopting a speed interpolation mode 2 +a 3 X T3-Current, V2 is the speed at the end of the second stage acceleration, a3 is the calculated third stage acceleration, T3-Current is the timing of the start of the third stage acceleration, when T3-Current>When the operation is carried out in the constant speed section, the operation is carried out;
s7, ending the third acceleration section: timing to reach T3;
s8, operating at a constant speed; calculating the time of the constant speed section according to the constant speed distance and the constant speed;
s9, operating a first deceleration section:
s90, calculating a first-section deceleration duration, adopting three sections of deceleration, wherein each section is 1/3 of the period, and the first-section acceleration durationT is the current rope swing period;
s91, calculating deceleration: deceleration rateWhere V3 is the post acceleration speed, T is the current rope swing period,
s92, calculating a deceleration distance: distance of decelerationT is a swing period, V3 is the post-acceleration speed, and a4 is the first section of deceleration;
s93, running uniform speed: the constant speed running distance S4=S-S_Current-S5, the S total positioning distance, the S_Current currently positioned distance, the S5 deceleration distance, and the constant speed running at the speed V3 of ending the three-section acceleration within the S4 distance;
s94, running the first section of deceleration, adopting a speed interpolation mode, v=v3-a4×t4_current, a4 being the calculated first section of deceleration, V3 being the post-acceleration speed, t4_current being the swing period timing of the start of acceleration, and entering the second section of deceleration operation when t4_current > =t4;
s10, ending the first deceleration section: timing to T4;
s11, operating a second deceleration section:
s110, calculating a second-section deceleration durationT is the current rope swing period, and T4 is the first deceleration duration;
s111, calculating the maximum deceleration and the decelerationV4 is the speed after the first section of speed reduction, and T is the current rope swing period;
s112, running the second section of deceleration, adopting a speed interpolation mode, v=v4-a5×t5_current, a5 being the calculated second section of deceleration, V4 being a section of post-deceleration speed, t5_current being the swing period timing of the start of acceleration, and entering the third section of deceleration operation when t5_current > =t5;
s12, ending the second deceleration section: timing to T5;
s13, operating a third deceleration section:
s130, calculating a third-section deceleration duration, wherein the third-section deceleration duration T6= (T-T4-T5), T is the current rope swing period, T4 is the first-section deceleration duration, and T5 is the first-section deceleration duration;
s131, calculating the maximum deceleration: calculating deceleration a6=v5/T6, wherein V5 is the speed after the second-stage deceleration is completed, and T6 is the third-stage deceleration duration;
s132, running a third segment of deceleration, adopting a speed interpolation mode, v=v5-a6×t6_current, a6 being the calculated first segment of deceleration, V5 being the speed after two segments of deceleration, t6_current being the timing of starting the running, and starting to approach the target position at a low speed when t6_current > =t6;
s14, ending the third deceleration section: timing to T6;
s15, approaching a target position at a low speed;
s16, ending: reaching the target location.
2. The method for controlling the anti-sway of the variable-rope-length unmanned vehicle under the control of multi-section acceleration and deceleration motion according to claim 1, wherein the step S15 further comprises stopping control when the target position is reached, so that the vehicle can be completely stopped when the target position is reached.
3. The method for controlling the swing prevention of the variable-rope-length unmanned traveling crane by multi-section acceleration and deceleration motion control according to claim 1, wherein in the step S8, in the constant-speed operation, the constant-speed time is as followsS * Represents a uniform velocity distance, V 3 Indicating the third acceleration segment end speed.
4. The rope-length-variable unmanned driving anti-swing control system controlled by multi-section acceleration and deceleration motion is characterized in that the rope-length-variable unmanned driving anti-swing control system controlled by multi-section acceleration and deceleration motion comprises the rope-length-variable unmanned driving anti-swing control method controlled by multi-section acceleration and deceleration motion according to any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111350767.3A CN113979305B (en) | 2021-11-15 | 2021-11-15 | Multi-section acceleration and deceleration motion control method and system for swing prevention control of rope-length-variable unmanned traveling crane |
Applications Claiming Priority (1)
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