WO2022227585A1 - 一种防摇摆控制方法及行车 - Google Patents

一种防摇摆控制方法及行车 Download PDF

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Publication number
WO2022227585A1
WO2022227585A1 PCT/CN2021/136297 CN2021136297W WO2022227585A1 WO 2022227585 A1 WO2022227585 A1 WO 2022227585A1 CN 2021136297 W CN2021136297 W CN 2021136297W WO 2022227585 A1 WO2022227585 A1 WO 2022227585A1
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Prior art keywords
sway
disturbance
acceleration
acceleration pulse
trolley
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PCT/CN2021/136297
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English (en)
French (fr)
Inventor
李�杰
兰江松
林文舵
常雪琦
张猛
张程
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法兰泰克重工股份有限公司
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Publication of WO2022227585A1 publication Critical patent/WO2022227585A1/zh

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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
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • 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
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control

Definitions

  • the invention relates to the technical field of driving control, in particular to an anti-sway control method and driving.
  • Crane is an important logistics and transportation equipment. At present, cranes for cranes are manually operated manually, such as grab cranes or electromagnetic cranes. During the process of material handling, the hoisting weight will sway, resulting in low work efficiency and certain problems. Security risks.
  • the sway technology commonly used in the market is the electronic open-loop anti-sway technology, which focuses on the optimal design of the control algorithm on the drive inverter of the cart or trolley in the driving equipment, but the calculation of the control elements. Most of them use indirect calculation or input given methods, such as actual pendulum length, actual pendulum angle and so on.
  • the yaw of driving in actual engineering is a comprehensive process, including not only the self-swing when lifting the weight, but also the swing caused by external disturbances.
  • the numerical value of the sway control elements is difficult to control specifically for the actual working conditions, resulting in inaccurate anti-sway control and low work efficiency.
  • the purpose of the present invention is to provide an anti-sway control method and driving, so as to solve the problems that the anti-sway method is open-loop control, low control precision and low work efficiency during the running process of the driving.
  • An anti-sway control method for controlling the swing of a hook of a traveling vehicle in an acceleration phase and a constant speed phase includes an anti-sway controller, a cart and a trolley that is connected to the cart by transmission, and the hook drives Connected to the trolley, both the trolley and the trolley are provided with a swing angle sensor, and the anti-sway controller applies an anti-sway acceleration pulse A to the trolley or the trolley, which includes the following steps:
  • the swing angle sensor measures a first actual swing angle ⁇ 2 of the hook, and calculates a disturbance swing angle ⁇ 3 according to the theoretical driving swing angle ⁇ 1 and the first actual swing angle ⁇ 2 ;
  • the anti-sway controller calculates the first disturbance anti-sway acceleration pulse A 2 according to the disturbance swing angle ⁇ 3 ;
  • the cart or the trolley enters the uniform speed stage, and the swing angle sensor measures the second actual swing angle ⁇ 4 to determine whether the second actual swing angle ⁇ 4 is greater than the minimum disturbance swing angle, and if so, then Go to S800;
  • the trolley is provided with a reel, the hook and the reel are connected by a sling drive, and the reel is provided with a sensor for monitoring the rope length l1 of the sling, according to the Calculate the first swing period T 1 of the hook in the acceleration phase, wherein: T 1 is the first swing period, s; l 1 is the length of the measuring rope, m; g is the acceleration of gravity, N/Kg.
  • applying the starting acceleration pulse A 0 and applying the driving anti-sway acceleration pulse A 1 differ in timing by KT 1 +T 1 /2, wherein: T 1 is the first swing Period, s; ⁇ 1 is the first damping coefficient, and the value range of ⁇ 1 is 0 to 1; ⁇ 1 is the first frequency, rad/s; K is a positive integer greater than or equal to zero.
  • step S610 specifically includes the following steps:
  • the first disturbance anti-sway acceleration pulse A 2 applies the first disturbance anti-sway acceleration pulse A 4 and apply the first disturbance anti-sway acceleration pulse A 2 with a time difference of KT 1 +T 1 /2, wherein: T 1 is the first swing period, s; ⁇ 1 is the first damping coefficient, the value range of ⁇ 1 is 0-1; ⁇ 1 is the first frequency, rad/s; K is a positive integer greater than or equal to zero.
  • step S800 specifically includes:
  • the second disturbance anti-sway acceleration pulse A 3 is calculated, and the time difference between applying the second disturbance acceleration pulse A 5 and applying the second disturbance anti-sway acceleration pulse A 3 is NT 2 +T 2 /2, where: T 2 is the second swing period, s; ⁇ 2 is the second damping coefficient, the value range of ⁇ 2 is 0-1; ⁇ 2 is the second frequency, rad/s; N is a positive integer greater than or equal to zero.
  • the S500 specifically includes the following steps:
  • the anti-sway controller converts the drive anti-sway acceleration pulse A1 into an electrical signal, and sends it to the inverter on the cart or the trolley, and the inverter controls the cart or the trolley
  • the drive motor works.
  • a traveling vehicle adopts the above-mentioned anti-sway control method.
  • the purpose of the present invention is to provide an anti-sway control method and driving, which are used to control the swing of the hook of the driving in the acceleration stage and the constant speed stage.
  • the hook transmission is connected to the trolley, and both the trolley and the trolley are provided with a swing angle sensor, and the anti-sway controller applies an anti-sway acceleration pulse A to the trolley or the trolley, which includes the following steps: start the trolley or the trolley according to the starting acceleration a 0 , The anti-sway controller determines the starting acceleration pulse A 0 according to the starting acceleration a 0 , and determines the driving anti-sway acceleration pulse A 1 from A 0 ; calculates the theoretical driving swing angle ⁇ 1 of the hook according to the starting acceleration pulse A 0 ; The first actual swing angle ⁇ 2 of the hook, calculate the disturbance swing angle ⁇ 3 according to the theoretical driving swing angle ⁇ 1 and the first actual swing angle ⁇ 2 ; judge whether the disturbance swing angle ⁇ 3 is greater than the minimum disturbance swing angle, if not, then prevent The sway controller
  • the anti-sway control method when the cart or trolley starts to work, the cart or trolley enters the acceleration stage, and the swing angle sensor monitors the swing angle of the hook in real time during the whole working process, According to the angle value monitored by the swing angle sensor, it is judged whether there is external disturbance in the acceleration phase, so that the anti-sway controller can accurately control the driving motor of the cart or trolley to work according to the angle value of its own swing and external disturbance, so as to make the hook's drive motor work.
  • the swing phenomenon is reduced to within the allowable range; after entering the uniform speed stage, the external environment interferes with the normal operation of the vehicle at an uncertain time point, and the swing angle sensor monitors the swing angle of the hook in real time to determine whether there is external disturbance, and the anti-sway controller is based on The angle value monitored by the swing angle controls the driving motor of the cart or trolley to work in real time, so as to reduce the swing phenomenon of the hook caused by external disturbances to within the allowable range, and repeat the work steps in the constant speed stage to realize the correct operation of the bucket.
  • the closed-loop control of the swing phenomenon has high control accuracy, which ensures that the hook can work smoothly during the entire operation process, improves the work efficiency of the cart or trolley, and improves the safety of driving.
  • Fig. 2 is a partial flow chart 1 of the anti-sway control method provided by the implementation of the present invention.
  • FIG. 3 is a partial flow chart 2 of the anti-sway control method provided by the implementation of the present invention.
  • 5 is a simulation pulse diagram 2 of the anti-sway control method provided by the implementation of the present invention.
  • FIG. 6 is a simulation pulse diagram 3 of the anti-sway control method provided by the implementation of the present invention.
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements.
  • connection may be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements.
  • specific meanings of the above terms in the present invention can be understood in specific situations.
  • a first feature "on” or “under” a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is horizontally lower than the second feature.
  • the present invention provides an anti-sway control method and driving.
  • the anti-sway control method is used to control the swing of the hook of the driving in the acceleration stage and the constant speed stage.
  • the swing angle sensor monitors the swing angle of the hook in real time during the entire working process, and judges whether there is external disturbance in the acceleration stage according to the angle value monitored by the swing angle sensor, so that the anti-swing control can be performed.
  • the device accurately controls the driving motor of the cart or trolley to work according to the angle value of its own swing and external disturbance, so as to reduce the swing phenomenon of the hook to the allowable range; after entering the uniform speed stage, the external environment is at an uncertain time point.
  • the swing angle sensor monitors the swing angle of the hook in real time to determine whether there is external disturbance.
  • the swing phenomenon of the hook is reduced to within the allowable range, and the work steps in the constant speed stage are repeated to realize the closed-loop control of the swing phenomenon of the bucket.
  • the control precision is high, and the hook can be stable during the entire operation It can improve the working efficiency of carts or trolleys and improve the safety of driving.
  • the driving includes an anti-sway controller, a cart and a trolley whose transmission is connected to the cart.
  • the hook drive is connected to the cart.
  • Both the cart and the cart are provided with a swing angle sensor.
  • the anti-sway controller applies anti-sway acceleration to the cart or the cart. Pulse is A. As shown in Figure 1-3, the anti-sway control method includes the following steps:
  • the cart or cart starts and enters an acceleration phase.
  • the start-up acceleration pulse A 0 is obtained by derivation and calculation of the start-up acceleration a 0 , and the specific calculation process belongs to the prior art, which will not be repeated here.
  • the swing angle sensor measures the first actual swing angle ⁇ 2 of the hook, and calculates the disturbance swing angle ⁇ 3 according to the theoretical driving swing angle ⁇ 1 and the first actual swing angle ⁇ 2 .
  • the driving swing angle is the swing angle generated by the hook itself when lifting heavy objects
  • the disturbance swing angle is the swing angle generated by external interference.
  • external disturbances There are external disturbances, and at the same time, it is convenient to judge the influence degree of external disturbances on driving, so as to improve the working environment of driving.
  • the disturbance swing angle ⁇ 3 is smaller than the minimum disturbance swing angle, that is, the value of the disturbance swing angle ⁇ 3 is within the allowable range, then only the swing phenomenon generated when the hook is hoisting heavy objects needs to be improved, so S500 is performed.
  • the anti-sway controller converts the driving anti-sway acceleration pulse A1 into an electrical signal, and sends the electrical signal to the inverter on the cart or trolley, and the inverter controls the drive motor of the cart or trolley to work, so that the cart or trolley can work
  • the corresponding torque of the motor output works to reduce the swing phenomenon of the hook. It can be understood that the above steps can improve the swing phenomenon generated by the hook itself when hoisting heavy objects, so as to control the angle value of the driving swing angle when the hook hoists heavy objects within an allowable range.
  • the trolley is provided with a reel, the hook and the reel are connected by a sling drive, and the reel is provided with a sensor for detecting the length of the sling.
  • the anti-sway controller applies a pulse of equal magnitude and opposite direction to the hook, thereby improving the hook in the fastest and most effective way. swing phenomenon.
  • t 0 is any moment in the acceleration phase, s.
  • the disturbance swing angle ⁇ 3 is greater than the minimum disturbance swing angle, that is, the value of the disturbance swing angle ⁇ 3 exceeds the allowable range, it is necessary to simultaneously improve the swing phenomenon generated by the hook itself when hoisting heavy objects and the hook caused by the external disturbance. Therefore, S610, S620 and S630 are performed.
  • the application of the starting acceleration pulse A 0 and the application of the driving anti-shake acceleration pulse A 1 differ in time sequence by KT 1 +T 1 /2, where K is a positive integer greater than or equal to zero.
  • the anti-sway controller calculates the first disturbance anti-sway acceleration pulse A 2 according to the disturbance swing angle ⁇ 3 .
  • t 1 is a certain time, s, that lags behind t 0 in the acceleration phase.
  • S620 The specific calculation steps of S620 are as follows;
  • the first perturbation acceleration pulse A 4 is obtained by derivation and calculation of the first perturbation acceleration a 1 , and the specific calculation process belongs to the prior art and will not be repeated here.
  • applying the first disturbance acceleration pulse A 4 and applying the first disturbance anti-sway acceleration pulse A 2 differ in time sequence by KT 1 +T 1 /2, where K is a positive integer greater than or equal to zero. It can be understood that the driving anti-sway acceleration pulse A 1 lags behind the driving swing KT 1 +T 1 /2 formed by starting the cart or the trolley in time sequence, and the first disturbance anti-sway acceleration pulse A 2 lags the outside world in time sequence. Disturbance KT 1 +T 1 /2 is applied.
  • the first disturbance anti-sway acceleration pulse A 2 By applying the first disturbance anti-sway acceleration pulse A 2 at a time difference of KT 1 +T 1 /2, that is, applying the first disturbance anti-sway acceleration pulse A 2 at the time point when the swing amplitude of the hook is the largest, at this time, the first disturbance anti-sway acceleration pulse A 2 is applied.
  • the best time point to disturb the anti-sway acceleration pulse A 2 can improve the swing phenomenon formed by the orderly external disturbance of the hook in the fastest and most effective way.
  • the above steps not only improve the swing phenomenon generated by the hook itself when hoisting heavy objects, but also improve the swing phenomenon generated by the hook under the action of external interference, so as to improve the stability of the hook when hoisting heavy objects.
  • the angle value of the driving swing angle is controlled within the allowable range.
  • the self-swing and the swing phenomenon caused by external disturbances can be accurately controlled respectively, so as to improve the control accuracy and ensure the safety of driving.
  • it is convenient to judge the influence degree of external disturbance on driving so as to improve the working environment of driving.
  • the anti-sway controller has completed the control of the swing phenomenon caused by the drive swing angle ⁇ 1 and the disturbance swing angle ⁇ 3 in the acceleration phase, so that the cart or trolley enters the stage of constant speed operation, and the hook works smoothly.
  • the external environment interferes with the normal operation of the vehicle at an uncertain time point, so that the hook swings. Therefore, the swing angle sensor monitors the swing angle of the hook in real time, and performs the following steps.
  • the swing angle sensor measures the second actual swing angle ⁇ 4 , and determines whether the second actual swing angle ⁇ 4 is greater than the minimum disturbance swing angle, and if so, go to S800 .
  • the anti-sway controller determines whether the second actual swing angle ⁇ 4 is greater than the minimum disturbance swing angle, and if the second actual swing angle ⁇ 4 is smaller than the minimum swing angle limit value, the vehicle runs smoothly. If the second actual swing angle ⁇ 4 is greater than the minimum swing angle limit value, it is necessary to improve the swing phenomenon of the hook caused by the external disturbance, and then go to S800 .
  • the second disturbance acceleration pulse A 5 is obtained by derivation and calculation of the second disturbance acceleration a 2 , and the specific calculation process belongs to the prior art, and will not be repeated here.
  • the anti-shake controller converts the second disturbance anti-shake acceleration pulse A 3 into an electrical signal, and sends the electrical signal to the inverter on the cart or trolley, and the inverter controls the drive motor of the cart or trolley to work, so that the cart or trolley works. Or the motor of the trolley outputs the corresponding torque to reduce the swing phenomenon of the hook.
  • the timing difference between applying the second disturbance acceleration pulse A5 and applying the second disturbance anti - sway acceleration pulse A3 is NT 2 +T 2 / 2 , where N is a positive integer greater than or equal to zero. It can be understood that the second disturbance anti-sway acceleration pulse A 3 is applied with a time lag behind the external disturbance NT 2 +T 2 /2.
  • the second disturbance anti-sway acceleration pulse A 3 By applying the second disturbance anti-sway acceleration pulse A 3 at the moment NT 2 +T 2 /2, that is, applying the second disturbance anti-sway acceleration pulse A 3 at the time point when the swing amplitude of the hook is the largest, at this time, the second disturbance is applied
  • the best time point of the anti-sway acceleration pulse A 3 can improve the swing phenomenon of the hook in the fastest and most effective way. That is, in the constant speed stage, the control of the swing phenomenon caused by the external environment on the hook is completed.
  • S1000 repeat S700 to S900.
  • the anti-sway controller controls the driving motor of the cart or the trolley to work in real time according to the second actual swing angle ⁇ 4 , thereby The swing phenomenon of the hook caused by external disturbance is reduced to the allowable range, so as to realize the closed-loop control of the swing phenomenon of the bucket.
  • the working efficiency of the car or trolley is improved, and the safety of driving is improved.
  • the anti-sway control method further includes a deceleration stage and a stop after the constant speed stage, and the control method of entering the deceleration stage and stopping is the same as the control method of starting and entering the acceleration stage. It is not repeated here.
  • the anti-sway controller can control the swing phenomenon of the hook in real time according to the real-time measurement data of the swing angle sensor, and can control the external environment to control the running traveling vehicle at an uncertain time point. Generate disturbance to realize the closed-loop control of the swing phenomenon of the hook during the driving operation, ensure that the hook can work stably throughout the operation process, improve the working efficiency of the cart or trolley, and improve the safety of driving. sex.

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  • Automation & Control Theory (AREA)
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Abstract

一种防摇摆控制方法及行车，包括：启动大车或小车，确定启动加速度脉冲A 0和驱动防摇加速度脉冲A 1；计算理论驱动摆角θ 1；测量第一实际摆角θ 2，计算扰动摆角θ 3并判断其是否大于最小扰动摆角，若否则依据驱动防摇加速度脉冲A 1控制大车或小车工作；若是则依据驱动防摇加速度脉冲A 1控制大车或小车工作，计算第一扰动防摇加速度脉冲A 2并依据其再控制大车或小车工作；匀速阶段测量第二实际摆角θ 3并判断其是否大于最小扰动摆角，若是则计算第二扰动防摇加速度脉冲A 3并依据其控制大车或小车工作；重复进行匀速阶段的步骤。该防摇摆控制方法能够对吊钩的摆动闭环控制，控制精度高，行车的工作效率高。

Description

一种防摇摆控制方法及行车 技术领域
本发明涉及行车控制技术领域，尤其涉及一种防摇摆控制方法及行车。
背景技术
行车是重要的物流运输装备，目前在人工手动操作行车用吊具，比如：抓斗吊或者电磁吊，搬运物料过程中，吊重均会出现摇摆的现象，导致工作效率低，并存在一定的安全隐患。
目前，市场比较普遍使用的摇摆技术是电子式的开环防摇摆技术，其侧重于对行车设备中大车或小车的驱动变频器上的控制算法的优化设计，但对其中的控制要素的测算多数采用间接计算或输入给定的方式，比如实际摆长、实际摆角等。而行车在实际工程中的偏摆是一综合引发的过程，不仅包括吊重时的自身摆动，同时也包括由外界干扰造成的摆动多种因素造成，故通过间接计算或开环给定量确定防摇摆的控制要素的数值，难以针对实际工况具体控制，导致防摇摆控制不精准、工作效率低。
发明内容
本发明的目的在于提供一种防摇摆控制方法及行车，以解决行车在运行过程，防摇摆方法为开环控制，控制精度低、工作效率低的问题。
为达此目的，本发明采用以下技术方案：
一种防摇摆控制方法，用于控制行车的吊钩在加速阶段和匀速阶段的摇摆，所述行车包括防摇摆控制器、大车和传动连接于所述大车的小车，所述吊钩传动连接于所述小车，所述大车和所述小车上均设置有摆角传感器，所述防摇控制器给所述大车或所述小车施加防摇加速度脉冲A，其包括如下步骤：
S100、依据启动加速度a 0启动所述大车或所述小车，所述防摇摆控制器依据所述启动加速度a 0确定启动加速度脉冲A 0和驱动防摇加速度脉冲A 1；
S200、依据所述启动加速度脉冲A 0计算所述吊钩的理论驱动摆角θ 1；
S300、所述摆角传感器测量所述吊钩的第一实际摆角θ 2，依据所述理论驱动摆角θ 1和所述第一实际摆角θ 2计算扰动摆角θ 3；
S400、判断所述扰动摆角θ 3是否大于最小扰动摆角，若否，则进行S500，若是，则依次进行S610、S620和S630；
S500、所述防摇摆控制器依据所述防摇加速度脉冲A控制所述大车或所述小车的驱动电机工作，其中A＝A 1；
S620、所述防摇摆控制器依据所述防摇加速度脉冲A控制所述大车或所述小车的驱动电机工作，其中A＝A 1；
S620、所述防摇摆控制器依据所述扰动摆角θ 3计算第一扰动防摇加速度脉冲A 2；
S630、所述防摇摆控制器依据所述防摇加速度脉冲A控制所述大车或所述小车的驱动电机工作，其中A＝A 2；
S700、所述大车或所述小车进入匀速阶段，所述摆角传感器测量第二实际摆角θ 4，判断所述第二实际摆角θ 4是否大于所述最小扰动摆角，若是，则进行S800；
S800、依据所述第二实际摆角θ 4计算第二扰动防摇加速度脉冲A 3；
S900、所述防摇摆控制器依据所述防摇加速度脉冲A控制所述大车或所述小车的驱动电机工作，其中A＝A 3；
S1000、重复S700至S900。
作为优选，所述小车上设置有卷筒，所述吊钩和所述卷筒通过吊绳传动连 接，所述卷筒上设置有用于监测所述吊绳的测量绳长l 1的传感器，依据
Figure PCTCN2021136297-appb-000001
计算所述吊钩在加速阶段的第一摆动周期T 1，其中：T 1为第一摆动周期，s；l 1为测量绳长，m；g为重力加速度，N/Kg。
作为优选，依据
Figure PCTCN2021136297-appb-000002
计算所述驱动防摇加速度脉冲A 1，施加所述启动加速度脉冲A 0和施加所述驱动防摇加速度脉冲A 1在时序上相差KT 1+T 1/2，其中：T 1为第一摆动周期，s；ζ 1为第一阻尼系数，ζ 1的取值范围为0～1；ω 1为第一频率，rad/s；K为大于等于零的正整数。
作为优选，步骤S610具体包括以下步骤：
S621、依据a 1＝l 1θ″ 3+gθ 3计算第一扰动加速度a 1；
S622、依据所述第一扰动加速度a 1确定第一扰动加速度脉冲A 4和所述第一扰动防摇加速度脉冲A 2；
其中：l 1为测量绳长，m；θ 3为第一扰动摆角；g为重力加速度，N/Kg；θ″ 3为第一扰动摆角的二阶导数。
作为优选，依据
Figure PCTCN2021136297-appb-000003
计算所述第一扰动防摇加速度脉冲A 2，施加所述第一扰动加速度脉冲A 4和施加所述第一扰动防摇加速度脉冲A 2在时序上相差KT 1+T 1/2，其中：T 1为第一摆动周期，s；ζ 1为第一阻尼系数，ζ 1的取值范围为0～1；ω 1为第一频率，rad/s；K为大于等于零的正整数。
作为优选，步骤S800具体包括：
S810、依据所述第二实际摆角θ 4确定所述吊钩的第二摆动周期T 2；
S820、依据
Figure PCTCN2021136297-appb-000004
计算实际绳长l 2；
S830、依据所述实际绳长l 2计算第二扰动加速度a 2；
S840、依据所述第二扰动加速度a 2确定第二扰动加速度脉冲A 5和所述第二扰动防摇加速度脉冲A 3；
其中：T 2为第二摆动周期，s；l 2为实际绳长，m；g为重力加速度，N/Kg。
作为优选，依据
Figure PCTCN2021136297-appb-000005
计算所述第二扰动防摇加速度脉冲A 3，施加所述第二扰动加速度脉冲A 5和施加所述第二扰动防摇加速度脉冲A 3在时序上相差NT 2+T 2/2，其中：T 2为第二摆动周期，s；ζ 2为第二阻尼系数，ζ 2的取值范围为0～1；ω 2为第二频率，rad/s；N为大于等于零的正整数。
作为优选，依据a 2＝l 2θ″ 4+gθ 4计算所述第二扰动加速度a 2，其中：l 2为实际绳长，m；θ 4为第二实际摆角；g为重力加速度，N/Kg；θ″ 4为第二实际摆角的二阶导数。
作为优选，所述S500具体包括以下步骤：
所述防摇摆控制器将所述驱动防摇加速度脉冲A 1转换为电信号，并发送至所述大车或所述小车上的变频器，所述变频器控制所述大车或所述小车的驱动电机工作。
一种行车，其采用上述的防摇摆控制方法。
本发明的有益效果：
本发明的目的在于提供一种防摇摆控制方法及行车，用于控制行车的吊钩在加速阶段和匀速阶段的摇摆，行车包括防摇摆控制器、大车和传动连接于大车的小车，吊钩传动连接于小车，大车和小车上均设置有摆角传感器，防摇控制器给大车或小车施加防摇加速度脉冲A，其包括如下步骤：依据启动加速度a 0启动大车或小车，防摇摆控制器依据启动加速度a 0确定启动加速度脉冲A 0，由A 0确定驱动防摇加速度脉冲A 1；依据启动加速度脉冲A 0计算吊钩的理论驱动 摆角θ 1；摆角传感器测量吊钩的第一实际摆角θ 2，依据理论驱动摆角θ 1和第一实际摆角θ 2计算扰动摆角θ 3；判断扰动摆角θ 3是否大于最小扰动摆角，若否，则防摇摆控制器依据防摇加速度脉冲A＝A 1控制大车或小车的驱动电机工作；若是，防摇摆控制器依据防摇加速度脉冲A＝A 1控制大车或小车的驱动电机工作，防摇摆控制器依据扰动摆角θ 3计算第一扰动加速度脉冲A 4，由第一扰动加速度脉冲A 4确定第一扰动防摇加速度脉冲A 2，防摇摆控制器依据防摇加速度脉冲A＝A 2控制大车或小车的驱动电机工作；大车或小车进入匀速阶段，摆角传感器测量第二实际摆角θ 3，判断第二实际摆角θ 3是否大于最小扰动摆角，若是，则依据第二实际摆角θ 3计算第二扰动加速度脉冲A 5，由第二扰动加速度脉冲A 5确定第二扰动防摇加速度脉冲A 3；防摇摆控制器依据防摇加速度脉冲A＝A 3控制大车或小车的驱动电机工作；并重复进行匀速阶段的工作步骤。该防摇摆控制方法，相对于现有技术的开环控制，当大车或小车工作开始工作时，大车或小车进入加速阶段，摆角传感器在整个工作过程中实时监测吊钩的摇摆角度，依据摆角传感器监测到的角度值判断加速阶段是否存在外界扰动，以使防摇摆控制器依据自身摆动和外界扰度的角度值准确的控制大车或者小车的驱动电机工作，从而将吊钩的摆动现象减小至允许范围内；进入匀速阶段后，外界环境在不确定的时间点干扰正常运行的行车，摆角传感器实时监测吊钩的摆动角度，判断是否存在外界扰动，防摇摆控制器依据摆动角度监测到的角度值实时控制大车或者小车的驱动电机工作，从而将外界扰动造成的吊钩的摆动现象减小至允许范围内，并重复进行匀速阶段的工作步骤，以实现对吊斗的摆动现象的闭环控制，控制精度高，保证吊钩在整个运行过程中都能平稳的工作，提高了大车或小车的工作效率，提高了行车的使用安全性。
附图说明
图1是本发明实施提供的防摇摆控制方法的流程图；
图2是本发明实施提供的防摇摆控制方法的部分流程图一；
图3是本发明实施提供的防摇摆控制方法的部分流程图二；
图4是本发明实施提供的防摇摆控制方法的仿真脉冲图一；
图5是本发明实施提供的防摇摆控制方法的仿真脉冲图二；
图6是本发明实施提供的防摇摆控制方法的仿真脉冲图三。
具体实施方式
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
在本发明的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水 平高度小于第二特征。
在本实施例的描述中，术语“上”、“下”、“右”、等方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅仅用于在描述上加以区分，并没有特殊的含义。
本发明提供一种防摇摆控制方法及行车，该防摇摆控制方法，用于控制行车的吊钩在加速阶段和匀速阶段的摇摆，相对于现有技术的开环控制，当大车或小车工作开始工作时，大车或小车进入加速阶段，摆角传感器在整个工作过程中实时监测吊钩的摇摆角度，依据摆角传感器监测到的角度值判断加速阶段是否存在外界扰动，以使防摇摆控制器依据自身摆动和外界扰度的角度值准确的控制大车或者小车的驱动电机工作，从而将吊钩的摆动现象减小至允许范围内；进入匀速阶段后，外界环境在不确定的时间点干扰正常运行的行车，摆角传感器实时监测吊钩的摆动角度，判断是否存在外界扰动，防摇摆控制器依据摆动角度监测到的角度值实时控制大车或者小车的驱动电机工作，从而将外界扰动造成的吊钩的摆动现象减小至允许范围内，并重复进行匀速阶段的工作步骤，以实现对吊斗的摆动现象的闭环控制，控制精度高，保证吊钩在整个运行过程中都能平稳的工作，提高了大车或小车的工作效率，提高了行车的使用安全性。
行车包括防摇摆控制器、大车和传动连接于大车的小车，吊钩传动连接于小车，大车和小车上均设置有摆角传感器，防摇控制器给大车或小车施加防摇加速度脉冲为A。如图1-3所示，该防摇摆控制方法包括如下步骤：
S100、依据启动加速度a 0启动大车或小车，防摇摆控制器依据启动加速度 a 0确定启动加速度脉冲A 0和驱动防摇加速度脉冲A 1。
具体地，大车或小车启动并进入加速阶段。启动加速度脉冲A 0是由启动加速度a 0求导计算得到，具体计算过程属于现有技术，在此不再赘述。
S200、依据启动加速度脉冲A 0计算吊钩的理论驱动摆角θ 1。
S300、摆角传感器测量吊钩的第一实际摆角θ 2，依据理论驱动摆角θ 1和第一实际摆角θ 2计算扰动摆角θ 3。
具体地，通过θ 2＝θ 1+θ 3计算扰动摆角θ 3。可以理解的是，驱动摆角即为吊钩吊取重物时自身产生的摆角，扰动摆角为外界干扰产生的摆角，通过分别计算出驱动摆角和扰动摆角，便于判断行车是否存在外部扰动，同时便于判断外部扰动对行车的影响程度，以便于改善行车的工作环境。
S400、判断扰动摆角θ 3是否大于最小扰动摆角，若否，则进行S500，若是，则依次进行S610、S620和S630。
具体地，若扰动摆角θ 3小于最小扰动摆角，即扰动摆角θ 3的值在允许范围内，则只需改善钩吊取重物时自身产生的摆动现象，故进行S500。
S500、防摇摆控制器依据防摇加速度脉冲A＝A 1控制大车或小车的驱动电机工作。防摇摆控制器将驱动防摇加速度脉冲A 1转换为电信号，并将电信号发送至大车或小车上的变频器，变频器控制大车或小车的驱动电机工作，以使大车或小车的电机输出对应的扭矩工作，以减小吊钩的摇摆现象。可以理解的是，通过以上步骤可以改善吊钩吊取重物时自身产生的摆动现象，以将吊钩吊取重物时的驱动摆角的角度值控制在允许范围内。
其中，小车上设置有卷筒，吊钩和卷筒通过吊绳传动连接，卷筒上设置有用于检测吊绳的检测绳长l 1的传感器，依据
Figure PCTCN2021136297-appb-000006
计算吊钩在加速阶段的第一摆动周期T 1，其中：T 1为第一摆动周期，s；l 1为测量绳长，m；g为重力加 速度，N/Kg。
其中，依据
Figure PCTCN2021136297-appb-000007
计算驱动防摇加速度脉冲A 1，其中：T 1为第一摆动周期，s；ζ 1为第一阻尼系数，ζ 1的取值范围为0～1；ω 1为第一频率，rad/s。其中，第一阻尼系数ζ 1的取值由加速阶段的具体工况确定，ω 1＝1/T 1。
优选地，如图4所示，通过在时序上相差KT 1+T 1/2施加驱动防摇加速度脉冲A 1，即在吊钩的摆动幅度最大的时间点施加驱动防摇加速度脉冲A 1，此时为施加驱动防摇加速度脉冲A 1的最佳时间点，可以理解的是，防摇控制器对吊钩施加一个大小相等且方向相反的脉冲，从而最快、最有效的改善了吊钩的摆动现象。其中，t 0为加速阶段的任一时刻，s。
若扰动摆角θ 3大于最小扰动摆角，即扰动摆角θ 3的值超出了允许范围，则需要同时改善钩吊取重物时自身产生的摆动现象以及吊钩在外部扰动的作用下造成的摆动现象，故进行S610、S620和S630。
S610、防摇摆控制器依据防摇加速度脉冲A＝A 1控制大车或小车的驱动电机工作。防摇摆控制器将防摇加速度脉冲A＝A 1转换为电信号，并将电信号发送至大车或小车上的变频器，变频器控制大车或小车的驱动电机工作，以使大车或小车的电机输出对应的扭矩工作，以减小吊钩的摇摆现象。
其中，施加启动加速度脉冲A 0和施加驱动防摇加速度脉冲A 1在时序上相差KT 1+T 1/2，K为大于等于零的正整数。
S620、防摇摆控制器依据扰动摆角θ 3计算第一扰动防摇加速度脉冲A 2。
如图2、如图4和图5所示，t 1为加速阶段滞后于t 0的某一时刻，s。S620的具体的计算步骤如下；
S621、依据a 1＝l 1θ″ 3+gθ 3计算第一扰动加速度a 1。
S622、依据第一扰动加速度a 1确定第一扰动加速度脉冲A 4和第一扰动防摇加速度脉冲A 2。第一扰动加速度脉冲A 4是由第一扰动加速度a 1求导计算得到，具体计算过程属于现有技术，在此不再赘述。其中：l 1为测量绳长，m；θ 3为第一扰动摆角；g为重力加速度，N/Kg；θ″ 3为第一扰动摆角的二阶导数。
其中，依据
Figure PCTCN2021136297-appb-000008
计算第一扰动防摇加速度脉冲A 2，其中：T 1为第一摆动周期，s；ζ 1为第一阻尼系数，ζ 1的取值范围为0～1；ω 1为第一频率，rad/s。其中，第一阻尼系数ζ 1的取值由加速阶段的具体工况确定，ω 1＝1/T 1。
S630、防摇摆控制器依据防摇加速度脉冲A＝A 2控制大车或小车的驱动电机工作。防摇摆控制器将防摇加速度脉冲A＝A 2转换为电信号，并将电信号发送至大车或小车上的变频器，变频器控制大车或小车的驱动电机工作，以使大车或小车的电机输出对应的扭矩工作，以减小吊钩的摇摆现象。
优选地，施加第一扰动加速度脉冲A 4和施加第一扰动防摇加速度脉冲A 2在时序上相差KT 1+T 1/2，K为大于等于零的正整数。可以理解的是，驱动防摇加速度脉冲A 1在时序上滞后于启动大车或小车形成的驱动摆动KT 1+T 1/2施加，第一扰动防摇加速度脉冲A 2在时序上滞后于外界扰动KT 1+T 1/2施加。
通过在时序上相差KT 1+T 1/2施加第一扰动防摇加速度脉冲A 2，即在吊钩的摆动幅度最大的时间点施加第一扰动防摇加速度脉冲A 2，此时为施加第一扰动防摇加速度脉冲A 2的最佳时间点，以最快、最有效的改善了吊钩有序外界扰动形成的摆动现象。
可以理解的是，通过以上步骤既改善了吊钩吊取重物时自身产生的摆动现象，也改善了吊钩在外界干扰的作用下产生的摆动现象，以将吊钩吊取重物时 的驱动摆角的角度值控制在允许范围内。同时，通过分别计算驱动防摇加速度脉冲A 1和第一扰动防摇加速度脉冲A 2，能够分别精确地控制自身摆动和外界扰动造成的摇摆现象，以提高控制精度，保证行车的使用安全性，同时便于判断外部扰动对行车的影响程度，从而便于改善行车的工作环境。
此时，防摇摆控制器完成了对加速阶段的驱动摆角θ 1和扰动摆角θ 3造成的摆动现象的控制，以使大车或小车进入匀速工作的阶段，吊钩平稳的工作。但外界环境在不确定的时间点干扰正常运行的行车，以使吊钩产生摆动现象，故摆角传感器实时监测吊钩的摆动角度，并进行以下步骤。
S700、大车或小车进入匀速阶段，摆角传感器测量第二实际摆角θ 4，判断第二实际摆角θ 4是否大于最小扰动摆角，若是，则进行S800。
具体地，防摇摆控制器判断第二实际摆角θ 4是否大于最小扰动摆角，若第二实际摆角θ 4小于最小动摆角极限值，则行车平稳工作。若第二实际摆角θ 4大于最小动摆角极限值，则需要改善吊钩在外部扰动的作用下造成的摆动现象，则进行S800。
S800、依据第二实际摆角θ 4计算第二扰动防摇加速度脉冲A 3。
如图3和图6所示，其中：t 2为匀速阶段的任一时刻，s。S800的具体的步骤如下：
S810、依据第二实际摆角θ 4确定吊钩的第二摆动周期T 2。
S820、依据
Figure PCTCN2021136297-appb-000009
计算实际绳长l 2。
S830、依据实际绳长l 2计算第二扰动加速度a 2。
具体地，依据a 2＝l 2θ″ 4+gθ 4计算第二扰动加速度a 2，其中：l 2为实际绳长，m；θ 4为第二实际摆角，g为重力加速度，N/Kg；θ″ 4为第二实际摆角的二阶导数。
S840、依据第二扰动加速度a 2确定第二扰动加速度脉冲A 5和第二扰动防摇 加速度脉冲A 3。
其中：T 2为第二摆动周期，s；l 2为实际绳长，m；g为重力加速度，N/Kg。
其中，第二扰动加速度脉冲A 5是由第二扰动加速度a 2求导计算得到，具体计算过程属于现有技术，在此不再赘述。
依据
Figure PCTCN2021136297-appb-000010
计算第二扰动防摇加速度脉冲A 3，其中：T 2为第二摆动周期，s；ζ 2为第二阻尼系数，ζ 2的取值范围为0～1；ω 2为第二频率，rad/s。其中，第二阻尼系数ζ 2的取值由匀速阶段的具体工况确定，ω 2＝1/T 2。
S900、防摇摆控制器依据防摇加速度脉冲A控制大车或小车的驱动电机工作，其中A＝A 3。防摇控制器将第二扰动防摇加速度脉冲A 3转化为电信号，并将电信号发送至大车或小车上的变频器，变频器控制大车或小车的驱动电机工作，以使大车或小车的电机输出对应的扭矩工作，以减小吊钩的摇摆现象。
优选地，施加第二扰动加速度脉冲A 5和施加第二扰动防摇加速度脉冲A 3在时序上相差NT 2+T 2/2，N为大于等于零的正整数。可以理解的是，第二扰动防摇加速度脉冲A 3在时序上滞后于外界扰动NT 2+T 2/2施加。
通过在NT 2+T 2/2时刻施加第二扰动防摇加速度脉冲A 3，即在吊钩的摆动幅度最大的时间点施加第二扰动防摇加速度脉冲A 3，此时为施加第二扰动防摇加速度脉冲A 3的最佳时间点，能最快、最有效的改善了吊钩的摆动现象。即在匀速阶段，完成了一次外界环境对吊钩造成的摆动现象的控制。
S1000、重复S700至S900。通过重复S700至S900，以保证外界环境在不确定的时间点的情况下干扰正常运行的行车，防摇控制器实时的依据第二实际摆角θ 4控制大车或者小车的驱动电机工作，从而将外界扰动造成的吊钩的摆动现象减小至允许范围内，以实现对吊斗的摆动现象的闭环控制，控制精度高， 保证吊钩在整个运行过程中都能平稳的工作，提高了大车或小车的工作效率，提高了行车的使用安全性。
在本实施例中，该防摇摆控制方法还包括匀速阶段之后的减速阶段和停车，进入减速阶段并停车的控制方法与启动并进入加速阶段的控制方法相同。在此不再赘述。
一种行车，采用上述的防摇摆控制方法，防摇摆控制器能依据摆角传感器实时的测量数据对吊钩的摇摆现象进行实时控制，能够控制外界环境在不确定的时间点对正在运行的行车产生扰动，以实现在行车运行过程中对吊钩的摇摆现象的闭环控制，保证吊钩在整个运行过程中都能平稳的工作，提高了大车或小车的工作效率，提高了行车的使用安全性。
显然，本发明的上述实施例仅仅是为了清楚说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明权利要求的保护范围之内。

Claims (10)

  1. 一种防摇摆控制方法，用于控制行车的吊钩在加速阶段和匀速阶段的摇摆，所述行车包括防摇摆控制器、大车和传动连接于所述大车的小车，所述吊钩传动连接于所述小车，所述大车和所述小车上均设置有摆角传感器，所述防摇控制器给所述大车或所述小车施加防摇加速度脉冲A，其特征在于，包括如下步骤：
    S100、依据启动加速度a 0启动所述大车或所述小车，所述防摇摆控制器依据所述启动加速度a 0确定启动加速度脉冲A 0和驱动防摇加速度脉冲A 1；
    S200、依据所述启动加速度脉冲A 0计算所述吊钩的理论驱动摆角θ 1；
    S300、所述摆角传感器测量所述吊钩的第一实际摆角θ 2，依据所述理论驱动摆角θ 1和所述第一实际摆角θ 2计算扰动摆角θ 3；
    S400、判断所述扰动摆角θ 3是否大于最小扰动摆角，若否，则进行S500，若是，则依次进行S610、S620和S630；
    S500、所述防摇摆控制器依据所述防摇加速度脉冲A控制所述大车或所述小车的驱动电机工作，其中A＝A 1；
    S610、所述防摇摆控制器依据所述防摇加速度脉冲A控制所述大车或所述小车的驱动电机工作，其中A＝A 1；
    S620、所述防摇摆控制器依据所述扰动摆角θ 3计算第一扰动防摇加速度脉冲A 2；
    S630、所述防摇摆控制器依据所述防摇加速度脉冲A控制所述大车或所述小车的驱动电机工作，其中A＝A 2；
    S700、所述大车或所述小车进入匀速阶段，所述摆角传感器测量第二实际摆角θ 4，判断所述第二实际摆角θ 4是否大于所述最小扰动摆角，若是，则进行S800；
    S800、依据所述第二实际摆角θ 4计算第二扰动防摇加速度脉冲A 3；
    S900、所述防摇摆控制器依据所述防摇加速度脉冲A控制所述大车或所述小车的驱动电机工作，其中A＝A 3；
    S1000、重复S700至S900。
  2. 根据权利要求1所述的防摇摆控制方法，其特征在于，所述小车上设置有卷筒，所述吊钩和所述卷筒通过吊绳传动连接，所述卷筒上设置有用于监测所述吊绳的测量绳长l 1的传感器，依据
    Figure PCTCN2021136297-appb-100001
    计算所述吊钩在加速阶段的第一摆动周期T 1，其中：T 1为第一摆动周期，s；l 1为测量绳长，m；g为重力加速度，N/Kg。
  3. 根据权利要求2所述的防摇摆控制方法，其特征在于，依据
    Figure PCTCN2021136297-appb-100002
    计算所述驱动防摇加速度脉冲A 1，施加所述启动加速度脉冲A 0和施加所述驱动防摇加速度脉冲A 1在时序上相差KT 1+T 1/2，其中：T 1为第一摆动周期，s；ζ 1为第一阻尼系数，ζ 1的取值范围为0～1；ω 1为第一频率，rad/s；K为大于等于零的正整数。
  4. 根据权利要求2所述的防摇摆控制方法，其特征在于，步骤S620具体包括以下步骤：
    S621、依据a 1＝l 1θ″ 3+gθ 3计算第一扰动加速度a 1；
    S622、依据所述第一扰动加速度a 1确定第一扰动加速度脉冲A 4和所述第一扰动防摇加速度脉冲A 2；
    其中：l 1为测量绳长，m；θ 3为第一扰动摆角；g为重力加速度，N/Kg；θ″ 3为第一扰动摆角的二阶导数。
  5. 根据权利要求4所述的防摇摆控制方法，其特征在于，依据
    Figure PCTCN2021136297-appb-100003
    计算所述第一扰动防摇加速度脉冲A 2，施加所述第一扰动加速度脉冲A 4和施加所述第一扰动防摇加速度脉冲A 2在时序上相差KT 1+T 1/2，其中：T 1为第一摆动周期，s；ζ 1为第一阻尼系数，ζ 1的取值范围为0～1；ω 1为第一频率，rad/s；K为大于等于零的正整数。
  6. 根据权利要求1所述的防摇摆控制方法，其特征在于，步骤S800具体包括：
    S810、依据所述第二实际摆角θ 4确定所述吊钩的第二摆动周期T 2；
    S820、依据
    Figure PCTCN2021136297-appb-100004
    计算实际绳长l 2；
    S830、依据所述实际绳长l 2计算第二扰动加速度a 2；
    S840、依据所述第二扰动加速度a 2确定第二扰动加速度脉冲A 5和所述第二扰动防摇加速度脉冲A 3；
    其中：T 2为第二摆动周期，s；l 2为实际绳长，m；g为重力加速度，N/Kg。
  7. 根据权利要求6所述的防摇摆控制方法，其特征在于，依据
    Figure PCTCN2021136297-appb-100005
    计算所述第二扰动防摇加速度脉冲A 3，施加所述第二扰动加速度脉冲A 5和施加所述第二扰动防摇加速度脉冲A 3在时序上相差NT 2+T 2/2，其中：T 2为第二摆动周期，s；ζ 2为第二阻尼系数，ζ 2的取值范围为0～1；ω 2为第二频率，rad/s；N为大于等于零的正整数。
  8. 根据权利要求6所述的防摇摆控制方法，其特征在于，依据a 2＝l 2θ″ 4+gθ 4计算所述第二扰动加速度a 2，其中：l 2为实际绳长，m；θ 4为第二实际摆角；g为重力加速度，N/Kg；θ″ 4为第二实际摆角的二阶导数。
  9. 根据权利要求1所述的防摇摆控制方法，其特征在于，所述S500具体包 括以下步骤：
    所述防摇摆控制器将所述驱动防摇加速度脉冲A 1转换为电信号，并发送至所述大车或所述小车上的变频器，所述变频器控制所述大车或所述小车的驱动电机工作。
  10. 一种行车，其特征在于，采用权利要求1-9任一项所述的防摇摆控制方法。
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