CN116969331B - A quintic polynomial smooth custom trajectory precision parallel crane - Google Patents

Abstract

The invention provides a fifth-order polynomial smooth customized trajectory precision parallel crane, which relates to the technical field of cranes. By inputting coordinates of target points or continuous path points through a human-machine interface, large loads, flexibility and stability of fixed points or customized paths can be achieved. No shaking, high speed, precise lifting, high load-bearing ratio, and simple operation. The actuator consists of three sets of steel wire ropes, a universal pulley block, a column support, a servo motor, and a reduction hoist connected through diagonal bars and cross bars to form an equilateral triangular prism. The three steel wire ropes work together on the hoisting platform to realize the movement in the work space. move.

Description

A quintic polynomial smooth custom trajectory precision parallel crane

Technical field

The invention relates to the technical field of cranes, and in particular to a fifth-order polynomial smooth customized trajectory precision parallel crane.

Background technique

A crane is a mechanical equipment used for hoisting and carrying heavy objects. They are widely used on construction sites, ports, warehousing sites, manufacturing and other environments where heavy objects need to be lifted or moved.

Traditional fixed cranes have large structures, low load-bearing ratios (i.e., the ratio of their own mass to payload), and poor flexibility in the operation process (usually only one degree of freedom can move at a time, making it difficult to achieve three-degree-of-freedom linkage) , The shortcomings of poor running stability (easy to shake when hoisting). At the same time, with traditional cranes, workers use joysticks, buttons or remote controls to perform remote operations. It is difficult to achieve fixed-point accuracy and smooth operation, and the operation has certain requirements for workers.

In view of this, this application is filed.

Contents of the invention

In view of this, the purpose of the present invention is to provide a fifth-order polynomial smooth customized trajectory precision parallel crane, which can effectively solve the problems of low operating efficiency, low load-bearing ratio, poor flexibility, and stable lifting of traditional fixed cranes in the existing technology. Problems include low performance, low accuracy, and high requirements on operators.

The invention discloses a fifth-order polynomial smooth custom trajectory precision parallel crane, which includes: a controller, a human-machine interface module, a driving component, an execution component, and a platform position acquisition module;

Wherein, the output end of the human-machine interface module, the output end of the platform position acquisition module, and the output end of the execution component are electrically connected to the input end of the controller, and the output end of the controller is connected to the input end of the controller. The input end of the driving component is electrically connected, and the output end of the driving component is electrically connected with the input end of the execution component;

Wherein, the execution component includes a lifting platform, a wire rope assembly, a first column support, a second column support, a third column support, a first universal pulley arranged at the upper end of the first column support, The first servo motor and the first reduction hoist are arranged at the bottom of the first column support, the second universal pulley is arranged at the upper end of the second column support, and the second universal pulley is arranged at the bottom of the second column support. The second servo motor and the second reduction hoist, the third universal pulley arranged at the upper end of the third column support, the third servo motor and the third reduction hoist arranged at the bottom of the third column support, the horizontal Rod assembly and inclined rod assembly, the first column support, the second column support and the third column support are fixedly connected through the cross rod assembly and the inclined rod assembly, the The hoisting platform is movably configured in the work space through the wire rope assembly;

Wherein, the controller is configured to implement the following steps by executing its internally stored computer program:

Obtain the coordinate information sent by the human-machine interface module respectively and the initial position point of the trajectory of the hoisting platform collected by the platform position acquisition module/> , wherein the coordinate information/> It is the coordinates of the target point or the coordinates of the continuous way points;

for the coordinate information , the initial position point of the trajectory of the hoisting platform/> and real time/> Perform preprocessing to generate ideal location information/> , wherein the ideal position information is the trajectory initial position point of the hoisting platform/> to the coordinate information/> said real time between/> The ideal position information corresponding to the time point, the initial position point of the trajectory of the hoisting platform/> to the coordinate information/> There are multiple time points, each time point corresponds to an ideal location information, specifically:

A system of fifth-order polynomial planning equations is used to calculate the coordinate information , the initial position point of the trajectory of the hoisting platform/> and real time/> Perform calculation processing to generate ideal location information/> ;

Among them, the system of fifth-order polynomial programming equations is:

in, For ideal location information/> X-axis coordinate point,/> For ideal location information/> Y-axis coordinate point,/> For ideal location information/> Z-axis coordinate point,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> , ,/> ,/> ,/> ,/> and/> is a constant,/> for/> The first derivative of ,/> for/> The second derivative of ,/> for/> The first derivative of ,/> for/> The second derivative of ,/> for/> The first derivative of ,/> for/> The second derivative of ;

Obtain the ideal location information collected by the platform location acquisition module The corresponding current position of the hoisting platform/> , and use the PID control law algorithm to determine the current position of the hoisting platform/> and the ideal location information/> Perform position closed-loop processing to generate time-controlled position information/> ,Specifically:

According to the formula The current position of the lifting platform/> and the ideal location information/> Perform position closed-loop processing, where,/> Control location information at all times/> ,/> for/> ,/> is the proportional coefficient,/> is the integral coefficient,/> is the differential coefficient;

Call the established kinematics model of the actuator to control the position information at the time Perform conversion processing to generate a speed control signal/> ,Specifically:

According to the formula , where,/> is the reduction ratio of the reduction winch,/> is the drum radius of the speed reduction winch,/> Yes/> The derivation of time t is the speed of the lifting platform at the next moment,/> , is the data collection cycle,/> is the Jacobian matrix;

Obtain the current speed information collected by the execution component, and use the PID control law algorithm to compare the current speed information and the speed control signal. Carry out speed closed-loop processing and generate instant speed signals;

The rotational speed signal at the time is sent to the driving component to drive the servo motor of the execution component to perform corresponding rotation to realize the movement of the hoisting platform in the work space.

Preferably, the driving assembly includes three groups of different types of circuit breakers, electromagnetic contactors, transformers, reactors, interference filters, servo drives, and braking resistors, wherein the circuit breaker and the electromagnetic contactor , the transformer is electrically connected, the electromagnetic contactor is electrically connected with the transformer and the reactor, the reactor is electrically connected with the interference filter, the servo driver is with the execution component and the interference filter. The filter and the braking resistor are electrically connected.

Preferably, the steel wire rope assembly includes a first steel wire rope, a second steel wire rope, and a third steel wire rope, wherein one end of the first steel wire rope is connected to the lifting platform, and the other end of the first steel wire rope passes through the third steel wire rope. A universal pulley is movably arranged on the first reduction hoist, one end of the second steel wire rope is connected to the lifting platform, and the other end of the second steel wire rope is movable through the second universal pulley. is configured on the second reduction hoist, one end of the third steel wire rope is connected to the lifting platform, and the other end of the third steel wire rope is movably arranged on the third universal pulley through the third universal pulley. On the three-reduction winch.

Preferably, the platform position acquisition module is an infrared sensor.

Preferably, the established kinematic model of the actuator is called to control the position information at the said moment. Before conversion processing, also include:

set up is the unknown quantity (X1, Y1, Z1), the center of mass point of the pulley is A, and A is/> Point distance/> ;

Assuming the pulley radius of the universal pulley block is R, the pulley rope exit point C and Point distance/> , get pulley point C and/> Point angle/> ;

Suppose the pulley enters the rope point Q, we get Q and Point distance/> ;

According to the cosine theorem, the pulley Q point and angle between points , get the arc length of pulley point Q and point C/> , and then get Q point to/> Point rope length ;

The length of the rope By derivation, we can get/> ,wherein,/> is the Jacobian matrix, which can be expressed as: ,/> Yes/> The derivation of time t is the speed of the lifting platform at the next moment, ,/> is the data collection cycle.

To sum up, this embodiment provides a fifth-degree polynomial smooth customized trajectory precision parallel crane, which can realize large load, flexibility, and flexibility of fixed points or customized paths by inputting target point or continuous path point coordinates through the human-machine interface. Smooth and rock-free, high-speed, precise hoisting, high load-bearing ratio, and simple operation; the actuator consists of three sets of steel wire ropes, a universal pulley block, a column support, a servo motor, and a reduction hoist connected through diagonal bars and cross bars to form an equilateral triangular prism. The three steel wire ropes work together on the hoisting platform to achieve movement in the work space; thereby solving the problems of traditional fixed cranes in the existing technology such as low operating efficiency, low load-bearing ratio, poor flexibility, low hoisting stability, and poor accuracy. low, and high requirements on operators.

Description of the drawings

Figure 1 is a schematic structural diagram of a fifth-degree polynomial smooth custom trajectory precision parallel crane provided by the embodiment.

Figure 2 is a schematic structural diagram of the driving assembly of a fifth-degree polynomial smooth customized trajectory precision parallel crane provided by the embodiment.

Figure 3 is a schematic structural diagram of an execution component of a fifth-degree polynomial smooth customized trajectory precision parallel crane provided by the embodiment.

FIG. 4 is a mathematical plan view of the kinematic model of the actuator provided by the embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention. Accordingly, the following detailed description of embodiments of the invention provided in the appended drawings is not intended to limit the scope of the claimed invention, but rather to represent selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Please refer to Figures 1 to 4. The first embodiment of the present invention provides a fifth-order polynomial smooth custom trajectory precision parallel crane, including: a controller, a human-machine interface module, a driving component, an execution component, and a platform position acquisition module;

Wherein, the output end of the human-machine interface module, the output end of the platform position acquisition module, and the output end of the execution component are electrically connected to the input end of the controller, and the output end of the controller is connected to the input end of the controller. The input end of the driving component is electrically connected, and the output end of the driving component is electrically connected with the input end of the execution component;

Wherein, the execution component includes a lifting platform, a wire rope assembly, a first column support, a second column support, a third column support, a first universal pulley arranged at the upper end of the first column support, The first servo motor and the first reduction hoist are arranged at the bottom of the first column support, the second universal pulley is arranged at the upper end of the second column support, and the second universal pulley is arranged at the bottom of the second column support. The second servo motor and the second reduction hoist, the third universal pulley arranged at the upper end of the third column support, the third servo motor and the third reduction hoist arranged at the bottom of the third column support, the horizontal Rod assembly and inclined rod assembly, the first column support, the second column support and the third column support are fixedly connected through the cross rod assembly and the inclined rod assembly, the The hoisting platform is movably configured in the work space through the wire rope assembly;

Specifically, in this embodiment, the driving assembly includes three groups of different types of circuit breakers, electromagnetic contactors, transformers, reactors, interference filters, servo drives, and braking resistors, wherein the circuit breaker It is electrically connected to the electromagnetic contactor and the transformer, the electromagnetic contactor is electrically connected to the transformer and the reactor, the reactor is electrically connected to the interference filter, and the servo driver is electrically connected to the The execution component, the interference filter and the braking resistor are electrically connected.

The steel wire rope assembly includes a first steel wire rope, a second steel wire rope, and a third steel wire rope, wherein one end of the first steel wire rope is connected to the lifting platform, and the other end of the first steel wire rope passes through the first universal A pulley is movably arranged on the first reduction hoist, one end of the second wire rope is connected to the lifting platform, and the other end of the second wire rope is movably arranged on the second universal pulley. On the second reduction hoist, one end of the third steel wire rope is connected to the lifting platform, and the other end of the third steel wire rope is movably arranged on the third reduction hoist through the third universal pulley. superior.

The platform position acquisition module may be an infrared sensor.

In this embodiment, the fifth-degree polynomial smooth custom trajectory precision parallel crane inputs the target point or continuous path point coordinates through the human-machine interface, which can realize large load, flexibility, stability without shaking, and high speed of fixed points or customized paths. , precise lifting, high load-bearing ratio and simple operation. The actuator consists of three sets of steel wire ropes, a universal pulley block, a column support, a servo motor, and a reduction hoist connected through diagonal bars and cross bars to form an equilateral triangular prism with a side length of 6m and a height of 4.295m. The three steel wire ropes work together to lift the crane. loading platform to enable movement in the workspace. Among them, the drive assembly consists of three sets of circuit breakers, electromagnetic contactors, reactors, interference filters, servo drives and braking resistors, which can effectively filter out clutter and noise in the mains power and stabilize the voltage and current of the circuit. , and prevent short-circuit current from causing damage to electrical components. The circuit connection of the driving component is shown in Figure 2.

Wherein, the controller is configured to implement the following steps by executing its internally stored computer program:

S101, respectively obtain the coordinate information sent by the human-machine interface module and the initial position point of the trajectory of the hoisting platform collected by the platform position acquisition module/> , where the coordinate information It is the coordinates of the target point or the coordinates of the continuous way points;

Specifically, in this embodiment, the target point is input into the human-machine interface module Coordinates or continuous waypoints/> coordinates, the coordinate information/> Input to controller via Ethernet.

S102, for the coordinate information , the initial position point of the trajectory of the hoisting platform/> and real time/> Perform preprocessing to generate ideal location information/> , wherein the ideal position information is the trajectory initial position point of the hoisting platform/> to the coordinate information/> said real time between/> The ideal position information corresponding to the time point, the initial position point of the trajectory of the hoisting platform/> to the coordinate information There are multiple time points, each time point corresponds to an ideal position information;

Specifically, step S102 includes: using a fifth-order polynomial planning equation system to calculate the coordinate information , the initial position point of the trajectory of the hoisting platform/> and real time/> Perform calculation processing to generate ideal location information/> ;

Among them, the system of fifth-order polynomial programming equations is:

in, For ideal location information/> X-axis coordinate point,/> For ideal location information/> Y-axis coordinate point,/> For ideal location information/> Z-axis coordinate point,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> , ,/> ,/> ,/> ,/> and/> is a constant,/> for/> The first derivative of ,/> for/> The second derivative of ,/> for/> The first derivative of ,/> for/> The second derivative of ,/> for/> The first derivative of ,/> for/> the second derivative of .

Specifically, in this embodiment, the position calculation of the controller is based on the received coordinate information of the human-machine interface. , and the initial position information of the trajectory where the current hoisting platform is located/> Do position calculations. Position calculation, can output the initial position point of the trajectory/> To target point or waypoint/> The ideal location information corresponding to each time point/> . In the machine, the movement of the hoisting platform is not a continuous line in the microscopic sense, but passes through one point in a very short time. In the macroscopic sense, it feels like a continuous action, so it is also controlled in terms of control. Outputting coordinate points one after another in a very short time allows the machine to execute quickly, forming macroscopic movements. Assume that the starting point and the target point are connected by a straight line and discretized into countless uniform points. Each point has its own coordinate (x, y, z) value. We use the same extremely short time to walk through each point. Small point, this is a uniform motion. The starting and stopping points in uniform motion are not added slowly from zero, but in steps, which will cause impact.

In order to achieve the stability of the hoisting process, a fifth-degree polynomial trajectory planning method is used to add speed and acceleration control to the distance from the current position point to the target point or path point, so that there will be no impact when starting and stopping. The basic idea is that the distance traveled by two microscopic discrete points in the same extremely short time is different. When starting and stopping, the distance traveled in the same extremely short time is shorter, and the speed is slower. When the distance covered in the same extremely short time is longer, the speed is faster. In order to realize speed and acceleration planning and output, a quintic polynomial equation is established and the real time t is input to obtain the discrete point position at the corresponding time, that is, the ideal position information corresponding to each time point. .

The system of fifth-degree polynomial programming equations is as follows:

First, set the starting time t to 0, the position to the current point coordinates, and the stop time to

in, is the target point or continuous point coordinates, that is, the coordinate information,/> is the trajectory initial position coordinate, that is, the trajectory initial position point of the hoisting platform, /> is the maximum operating speed of the machine, and pi is the anti-overspeed coefficient.

Set the start, stop speed and acceleration to 0, that is ,/> ,/> ,/> ,/> ,/> is 0, including the time and position of the known start and stop points, a total of 18 known conditions, which can be solved by adding the above quintic polynomial to the constant/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> .

Enter the solution constant into the fifth degree polynomial

The variable is time t, and the ideal position information at each time t can be obtained. .

S103. Obtain the ideal position information collected by the platform position collection module. The corresponding current position of the hoisting platform/> , and use the PID control law algorithm to determine the current position of the hoisting platform/> and the ideal location information/> Perform position closed-loop processing to generate time-controlled position information/> ;

Specifically, step S103 includes: according to the formula The current position of the lifting platform/> and the ideal location information/> Perform position closed-loop processing, where,/> Control location information at all times/> ,/> for/> ,/> is the proportional coefficient,/> is the integral coefficient,/> is the differential coefficient.

Specifically, in this embodiment, the position closed loop uses an infrared sensor to detect the current real-time position, and the control law uses PID for position closed loop control to ensure position accuracy.

The PID control law is as follows:

in Control position information for the time input to the controller/> ,/> for/> ,/> is the proportional coefficient,/> is the integral coefficient,/> is a differential coefficient, which is adjusted through multiple tests/> ,/> ,/> coefficient to achieve position accuracy.

S104, call the established kinematic model of the actuator to control the position information at the time Perform conversion processing to generate a speed control signal/> ;

Specifically, step S104 includes: according to the formula , where,/> is the reduction ratio of the reduction winch,/> is the drum radius of the speed reduction winch,/> Yes/> The derivation of time t is the speed of the lifting platform at the next moment, ,/> is the data collection cycle,/> is the Jacobian matrix.

Specifically, in this embodiment, assuming that the reduction ratio of the reduction hoist is i and the radius is r, the rotation speed can be obtained , where,/> Yes/> The derivation of time t is the speed of the lifting platform at the next moment, ,/> is the data collection cycle, where,/> is the Jacobian matrix. Through the above calculation method, bring in/> Actual values are available, the momentary speeds of the three servo motors.

Please refer to Figure 4. Specifically, in this embodiment, the established kinematic model of the actuator is called to control the position information at the time Before conversion processing, also include:

set up is the unknown quantity (X1, Y1, Z1), the center of mass point of the pulley is A, and A is/> Point distance/> ;

Assuming the pulley radius of the universal pulley block is R, the pulley rope exit point C and Point distance/> , get pulley point C and/> Point angle/> ;

Suppose the pulley enters the rope point Q, we get Q and Point distance/> ;

According to the cosine theorem, the pulley Q point and angle between points , get the arc length of pulley point Q and point C/> , and then get Q point to/> Point rope length ;

The length of the rope By derivation, we can get/> ,wherein,/> is the Jacobian matrix, which can be expressed as: ,/> Yes/> The derivation of time t is the speed of the lifting platform at the next moment, ,/> is the data collection cycle.

In this embodiment, the control calculation reception time control position information , output speed control signal/> . The control calculation requires the establishment of a kinematic model of the actuator, which is established as follows:

set up is the unknown quantity (X1, Y1, Z1), the center of mass point of the pulley is A, and A is/> point distance

Assuming the pulley radius R, the pulley rope exit point C and point distance

Obtain the point C of the pulley and Point angle/>

Suppose the pulley enters the rope point Q, we get Q and point distance

According to the cosine theorem, the pulley Q point and angle between points

Find the arc lengths of points Q and C of the pulley.

You can get Q point to Point rope length/>

The length of the rope By derivation, we can get/> ,wherein,/> is the Jacobian matrix, which can be expressed as: ,/> Yes/> The derivation of time t is the speed of the lifting platform at the next moment, ,/> is the data collection cycle.

S105: Obtain the current speed information collected by the execution component, and use the PID control law algorithm to compare the current speed information and the speed control signal. Carry out speed closed-loop processing and generate instant speed signals;

Specifically, in this embodiment, the driving component receives the rotational speed information from the controller and the current rotational speed information to perform PID rotational speed closed-loop control, and the control rate is the same as step S103. Among them, the drive assembly consists of three sets of circuit breakers, electromagnetic contactors, reactors, interference filters, servo drives and braking resistors, which can effectively filter out clutter and noise in the mains power and stabilize the voltage and current of the circuit. , and prevent short-circuit current from causing damage to electrical components. Set the servo drive in the drive system ,/> ,/> Parameters can realize the coupling execution of three servo motors.

S106. Send the rotation speed signal at the time to the driving component to drive the servo motor of the execution component to rotate accordingly to realize the movement of the hoisting platform in the work space.

Specifically, in this embodiment, three servo motors are controlled by the driver to drive the reduction hoist to retract and unwind the wire rope to realize the movement of the hoisting platform in the work space.

In summary, the fifth-degree polynomial smooth customized trajectory precision parallel crane adopts a parallel structure to achieve high load and flexible hoisting, uses a human-machine interface for information interaction, and uses a fifth-degree polynomial trajectory planning method to plan the speed and acceleration of the operating trajectory. A control system is established to achieve fast, stable and impact-free lifting, and dual closed-loop control of position and speed is used to achieve precise control. The fifth-degree polynomial smooth customized trajectory precision parallel crane has the advantages of reduced mechanism mass, enhanced load capacity, high load-bearing ratio, and can be flexibly controlled on three degrees of freedom; the human-machine interface is used to input positions or continuous point coordinates to achieve fixed point or continuous Point motion, the operation is simple and convenient; using quintic polynomial trajectory planning for trajectory speed and acceleration planning to achieve high-speed, stable, and impact-free lifting, good operating stability and high efficiency; and using position and speed double closed-loop control to achieve millimeter level Advantages of precision lifting.

The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above-mentioned embodiments. All technical solutions that fall under the idea of the present invention belong to the protection scope of the present invention.

Claims (5)

1. A fifth-order polynomial smooth customized trajectory precision parallel crane, which is characterized by including: a controller, a human-machine interface module, a driving component, an execution component, and a platform position acquisition module; Wherein, the output end of the human-machine interface module, the output end of the platform position acquisition module, and the output end of the execution component are electrically connected to the input end of the controller, and the output end of the controller is connected to the input end of the controller. The input end of the driving component is electrically connected, and the output end of the driving component is electrically connected with the input end of the execution component; Wherein, the execution component includes a lifting platform, a wire rope assembly, a first column support, a second column support, a third column support, a first universal pulley arranged at the upper end of the first column support, The first servo motor and the first reduction hoist are arranged at the bottom of the first column support, the second universal pulley is arranged at the upper end of the second column support, and the second universal pulley is arranged at the bottom of the second column support. The second servo motor and the second reduction hoist, the third universal pulley arranged at the upper end of the third column support, the third servo motor and the third reduction hoist arranged at the bottom of the third column support, the horizontal Rod assembly and inclined rod assembly, the first column support, the second column support and the third column support are fixedly connected through the cross rod assembly and the inclined rod assembly, the The hoisting platform is movably configured in the work space through the wire rope assembly; Wherein, the controller is configured to implement the following steps by executing its internally stored computer program: Obtain the coordinate information sent by the human-machine interface module respectively and the initial position point of the trajectory of the hoisting platform collected by the platform position acquisition module/> , wherein the coordinate information/> It is the coordinates of the target point or the coordinates of the continuous way points; for the coordinate information , the initial position point of the trajectory of the hoisting platform/> and real time/> Perform preprocessing to generate ideal location information/> , wherein the ideal position information is the trajectory initial position point of the hoisting platform/> to the coordinate information/> said real time between/> The ideal position information corresponding to the time point, the initial position point of the trajectory of the hoisting platform/> to the coordinate information/> There are multiple time points, each time point corresponds to an ideal location information, specifically: A system of fifth-order polynomial planning equations is used to calculate the coordinate information , the initial position point of the trajectory of the hoisting platform/> and real time/> Perform calculation processing to generate ideal location information/> ; Among them, the system of fifth-order polynomial programming equations is: in, For ideal location information/> X-axis coordinate point,/> For ideal location information/> Y-axis coordinate point,/> For ideal location information/> Z-axis coordinate point,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> and/> is a constant,/> for/> The first derivative of ,/> for/> The second derivative of ,/> for/> The first derivative of for/> The second derivative of ,/> for/> The first derivative of ,/> for/> The second derivative of ; Obtain the ideal location information collected by the platform location acquisition module The corresponding current position of the hoisting platform/> , and use the PID control law algorithm to determine the current position of the hoisting platform/> and the ideal location information/> Perform position closed-loop processing to generate time-controlled position information/> ,Specifically: According to the formula The current position of the lifting platform/> and the ideal location information/> Perform position closed-loop processing, where,/> Control location information at all times/> ,/> for ,/> is the proportional coefficient,/> is the integral coefficient,/> is the differential coefficient; Call the established kinematics model of the actuator to control the position information at the time Perform conversion processing to generate a speed control signal/> ,Specifically: According to the formula , where,/> is the reduction ratio of the reduction winch,/> is the drum radius of the speed reduction winch,/> Yes/> The derivation of time t is the speed of the lifting platform at the next moment,/> ,/> is the data collection cycle,/> is the Jacobian matrix; Obtain the current speed information collected by the execution component, and use the PID control law algorithm to compare the current speed information and the speed control signal. Carry out speed closed-loop processing and generate instant speed signals; The rotational speed signal at the time is sent to the driving component to drive the servo motor of the execution component to perform corresponding rotation to realize the movement of the hoisting platform in the work space. 2. A fifth-degree polynomial smooth customized trajectory precision parallel crane according to claim 1, characterized in that the driving assembly includes three groups of different types of circuit breakers, electromagnetic contactors, transformers, reactors, and interference filters. device, servo driver, and braking resistor, wherein the circuit breaker is electrically connected to the electromagnetic contactor and the transformer, the electromagnetic contactor is electrically connected to the transformer and the reactor, and the reactance The servo driver is electrically connected to the interference filter, and the servo driver is electrically connected to the execution component, the interference filter, and the braking resistor. 3. A fifth-degree polynomial smooth customized trajectory precision parallel crane according to claim 1, characterized in that the steel wire rope assembly includes a first steel wire rope, a second steel wire rope, and a third steel wire rope, wherein the first steel wire rope One end of the steel wire rope is connected to the hoisting platform, the other end of the first steel wire rope is movably arranged on the first reduction hoist through the first universal pulley, and one end of the second steel wire rope is connected to the The hoisting platform is connected, the other end of the second steel wire rope is movably arranged on the second reduction hoist through the second universal pulley, and one end of the third wire rope is connected to the hoisting platform, so The other end of the third steel wire rope is movably arranged on the third reduction hoist through the third universal pulley. 4. A fifth-degree polynomial smooth custom trajectory precision parallel crane according to claim 1, characterized in that the platform position acquisition module is an infrared sensor. 5. A fifth-degree polynomial smooth customized trajectory precision parallel crane according to claim 1, characterized in that the established kinematic model of the actuator is called to control the position information at the time Before conversion processing, also include: set up is the unknown quantity (X1, Y1, Z1), the center of mass point of the pulley is A, and A is/> Point distance/> ; Assuming the pulley radius of the universal pulley block is R, the pulley rope exit point C and Point distance/> , get pulley point C and/> Point angle/> ; Suppose the pulley enters the rope point Q, we get Q and Point distance/> ; According to the cosine theorem, the pulley Q point and angle between points , get the arc length of pulley point Q and point C/> , and then get Q point to/> Point rope length ; The length of the rope By derivation, we can get/> ,wherein,/> is the Jacobian matrix, which can be expressed as:/> , Yes/> The derivation of time t is the speed of the lifting platform at the next moment,/> ,/> is the data collection cycle.