CN107381352B - A kind of acceleration time adjustable crane is anti-to shake control method - Google Patents
A kind of acceleration time adjustable crane is anti-to shake control method Download PDFInfo
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- CN107381352B CN107381352B CN201710826964.5A CN201710826964A CN107381352B CN 107381352 B CN107381352 B CN 107381352B CN 201710826964 A CN201710826964 A CN 201710826964A CN 107381352 B CN107381352 B CN 107381352B
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Classifications
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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
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N7/00—Computing arrangements based on specific mathematical models
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Abstract
Prevent shaking control method the invention discloses a kind of adjustable crane of acceleration time, mathematical model including establishing hoist pivot angle, design the acceleration signal of crane, it include unknowm coefficient in the acceleration signal, design maximum speed and the acceleration time of crane, solve the unknowm coefficient of crane acceleration signal, make the acceleration signal of design at the end of the acceleration time, the amplitude of the hoist Residual oscillations of input shaper controller is zero, and final crane acceleration signal is input to shaping controller.The present invention can be directed to different operating conditions, select suitable acceleration time and maximum operational speed, control in conjunction with hoist pendulum length design shaping controller crane, realize that hoist zero is swung when accelerating to complete, further improve the working efficiency of crane.
Description
Technical Field
The invention relates to an acceleration time adjustable crane anti-swing control method, and belongs to the technical field of crane control.
Background
Cranes, as an important material handling device, are often used to perform important and challenging operational tasks, such as building bridges, dams, and high-rise towers. Generally, a crane can rapidly, smoothly and accurately transport a heavy object. However, the crane during the starting and braking process causes a large swing of the hoist weight, which may cause a great risk to the production process, resulting in a delay of the production process or an increase in maintenance costs.
The main goals of crane control research are to reduce or eliminate residual swing at the end of the handling process, reduce settling time and enhance safe operating conditions. Researchers have attempted to achieve these goals through various control techniques. Among them, feedback control is widely adopted because of robustness against uncertainty of the system. However, one of the main disadvantages of feedback control is the need to change the physical structure of the system, adding additional sensors or actuators. Another control method is open-loop control, typically an input shaping technique, which hardly changes the existing system, and thus is widely used for vibration suppression of flexible systems such as cranes.
The input shaping method is to convolute a series of pulses by a reference command normally used in a certain time, and reduce residual swing by accelerating for a plurality of times. In the conventional input shaping method, the period of the pulse sequence is fixed, and the pulse sequence must be matched with the modal parameters of the system and depends heavily on the period of the system. The reference instruction is usually constant, the shaping instruction obtained by convolution calculation is a series of step functions, frequent step acceleration causes the jitter of the execution element, and the phenomena are the expression of energy impact of the execution element and are adverse factors on the performance and the service life of the execution element. With the development of electronic speed-regulating circuits, smooth characteristics such as an S-curve, a trigonometric function, a gaussian function, and a cam polynomial are used for input shaping. These characteristics introduce a low-pass filtering effect, which greatly reduces the residual vibration, but also causes a large rise time loss.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an acceleration time adjustable crane anti-swing control method, which allows the duration and the maximum design speed of an acceleration stage to be freely selected, combines a hoisting weight swing length design and adjustment controller, realizes the ending of the hoisting weight zero swing in the transfer process and further improves the working efficiency of the crane.
In order to solve the technical problem, the invention provides an acceleration time adjustable crane anti-swing control method, which comprises the following steps:
1) establishing a mathematical model of a hoisting swing angle;
2) designing an acceleration signal of the crane;
3) solving unknown coefficients of the crane acceleration signals according to the maximum speed and the acceleration time of the crane;
4) and inputting the final crane acceleration signal to a shaping controller.
In the foregoing step 1), the mathematical model of the sling swing angle is:
wherein theta is a swing angle of the hoisting weight, u is the displacement of the crane trolley,the acceleration of the crane trolley, l is the length of the hoisting steel wire rope, g is the gravity acceleration,
when the length of the hoisting steel wire rope is not changed, the mathematical model of the hoisting swing angle is simplified as follows:
wherein,the natural frequency of the swinging of the hoisting weight.
In the foregoing step 2), the acceleration signal of the crane is designed as follows:
where τ is the acceleration time, t is the time variable, and A, B is the unknown coefficient.
The solving process of the coefficient A is as follows: acceleration signal of the crane designed in the step 2)Integration is performed during the acceleration time to obtain the maximum value of the crane speed: v. ofmax＝Aτ，
According to the maximum speed and the acceleration time of the crane, determining a constant A as follows:
the solving process of the coefficient B is as follows:
5-1) under the zero initial condition, the acceleration signal of the crane designed in the step 2) is usedSubstituting the simplified mathematical model of the hoisting swing angle to obtain:
where θ (t) is a sling swing angle that changes with time t.
5-2) obtaining the hoisting swing angle theta at the moment tau by taking t as tauτ：
5-3) deriving the hoisting swing angle theta (t), and obtaining the hoisting angular speed at the moment tau by taking t as tau
5-4) at the end of the acceleration time τ, the amplitude AMP of the sling residual oscillation is:
when AMP is required to be 0, then
Will be provided withAndsubstituting into the amplitude AMP of the sling residual oscillation, yields:
because of the fact thatThen:
the final crane acceleration signal is:
the invention achieves the following beneficial effects:
in the crane control system, the proper acceleration time and the maximum running speed can be selected according to different working conditions, the crane is controlled by combining the hoisting weight length design and the shaping controller, the zero swinging of the hoisting weight is realized when the acceleration is finished, and the working efficiency of the crane is further improved.
Drawings
FIG. 1 is a schematic diagram of the hoisting of a crane;
FIG. 2 is a schematic diagram of crane control;
FIG. 3 is a schematic diagram of an input shaping controller;
fig. 4 shows a response of the hoist slew angle when τ is 1s in the simulation.
Detailed Description
The invention is further described below. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in the schematic diagram of the hoisting principle of the crane in fig. 1, a trolley with mass M runs horizontally along a track, u is the displacement of the trolley,the acceleration of the trolley, l the length of the hoisting steel wire rope,m is the mass of the hoist, and theta is the swing angle of the hoist.
The mathematical model of the sling swing angle is:
wherein g is the acceleration of gravity.
Hoisting swing natural frequency:
when the length of the rope of the hoisting weight is not changed, the mathematical model of the swing angle of the hoisting weight can be simplified as follows:
the control principle of the crane is shown in figure 2, and the acceleration signal of the craneThe control signal V meeting the requirements is formed by inputting the shaping controller, the control signal V is amplified by the driving circuit to drive the executing element to move, the cargo transfer is realized, and the swing angle theta is generated by the hoisting due to the existence of inertia.
In order to realize the crane anti-swing control method with adjustable acceleration time, a method is introducedAs the acceleration signal of the crane, the acceleration time is tau, t is the time variable, forThe maximum value v of the crane speed can be obtained by integrating in the acceleration timemaxA τ. The constant can be determined according to the designed maximum speed and acceleration time
Under zero initial conditions, willThe method is substituted into a simplified mathematical model of the hoisting swing angle to obtain:
θ (t) is a sling swing angle that varies with time t.
Wherein:
taking t as tau, the hoisting swing angle at time tau can be obtainedThe angular speed of the hoist can be obtained by derivation of the swing angle of the hoist
At the end of the acceleration time τ, the performance of the input shaper is measured by the amplitude of the residual swing of the hoist weight, and since there is no acceleration on the crane boom at this time, the system swings freely without damping. Amplitude of residual swing of sling
Obviously, if the residual swing of the hoist is set to 0, it is necessary to set the swing to 0
Thus can be used forAndsubstituted into the amplitude AMP of the sling residual oscillation,
obtaining:
because of the fact thatIt is known that the coefficients are calculated:
as shown in fig. 3, an acceleration signal of the crane is calculated according to the maximum speed and the acceleration time of the crane input by an operator and is input to the shaping controller, the shaping controller performs convolution operation on an initial command and a shaping filter to obtain a shaped acceleration signal, and the control signal drives the amplifying unit to further control the execution element, so that the residual swing angle of the hoisting weight after the hoisting arm is accelerated is 0.
In the present invention, when the selected acceleration time τ is equal to the natural period τ of the systemn＝2π/ωnAnd the value of B is 0, at which time the trolley is running at constant acceleration.
In the simulation, the length l of the hoisting rope is 0.6m and the maximum running speed v of the cranemax0.3m/s, and selecting accelerating time taunThe simulation results are shown in fig. 4 when the time is 1 s. As can be seen from the figure, after the acceleration process is finished, the swing angle of the hoist is 0, and thus a swing-free transfer process is realized. Simulation results show that the provided control method can realize adjustable acceleration time and eliminate residual swing in the operation process.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (3)
1. The crane anti-swing control method with adjustable acceleration time is characterized by comprising the following steps of:
1) establishing a mathematical model of a hoisting swing angle;
2) designing an acceleration signal of the crane as follows:
wherein,is an acceleration signal, tau is acceleration time, t is a time variable, A, B is an unknown coefficient;
3) solving unknown coefficients of the crane acceleration signals according to the maximum speed and the acceleration time of the crane;
the solution process of the unknown coefficient A is that the acceleration signal ü of the crane designed in the step 2) is integrated in the acceleration time to obtain the maximum value of the crane speed vmax＝Aτ，
According to the maximum speed and the acceleration time of the crane, determining a constant A as follows:
the solving process of the unknown coefficient B is as follows:
3-1) under the zero initial condition, substituting the acceleration signal ü of the crane designed in the step 2) into a simplified mathematical model of the hoisting swing angle to obtain:
wherein θ (t) is a swing angle of the hoist varying with time t, ωnIn order to swing the natural frequency of the hoist,
g is the acceleration of gravity;
3-2) obtaining the hoisting swing angle theta at the moment tau by taking t as tauτ：
3-3) deriving the hoisting swing angle theta (t), and obtaining the hoisting angular speed at the moment tau by taking t as tau
3-4) at the end of the acceleration time τ, the amplitude AMP of the sling residual oscillation is:
when AMP is required to be 0, then
Will be provided withAndsubstituting into the amplitude AMP of the sling residual oscillation, yields:
because of the fact thatThen:
4) and inputting the final crane acceleration signal to a shaping controller.
2. The crane anti-swing control method with adjustable acceleration time according to claim 1, wherein in the step 1), the mathematical model of the swing angle of the hoist is as follows:
wherein theta is a swing angle of the hoist, ü is a displacement of the crane trolley, ü is an acceleration of the crane trolley, l is a length of a hoist steel wire rope, g is a gravitational acceleration,
when the length of the hoisting steel wire rope is not changed, the mathematical model of the hoisting swing angle is simplified as follows:
wherein,the natural frequency of the swinging of the hoisting weight.
3. The method for controlling crane anti-swing with adjustable acceleration time according to claim 1, wherein the final crane acceleration signal is:
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109896423B (en) * | 2019-03-11 | 2020-02-18 | 上海理工大学 | Time-varying nonlinear trolley-hoisting anti-swing control device and anti-swing control method |
| CN110294414B (en) * | 2019-06-21 | 2020-07-28 | 上海理工大学 | Crane control method based on open-loop anti-swing control algorithm |
| CN112010175B (en) * | 2020-07-09 | 2023-03-24 | 太原重工股份有限公司 | Multi-shaft linkage anti-swing control method and control system for crane |
| CN112960550B (en) * | 2021-01-28 | 2023-04-18 | 唐山钢铁集团微尔自动化有限公司 | Anti-swing control method for crown block during manual operation |
| CN114852860B (en) * | 2022-06-02 | 2022-11-04 | 上海驭矩信息科技有限公司 | Bridge crane anti-shaking method and system based on signal difference |
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|---|---|---|---|---|
| CN104296862A (en) * | 2014-10-31 | 2015-01-21 | 孙斌 | Crane load swing on-line detecting method and system |
| CN105016210A (en) * | 2015-06-10 | 2015-11-04 | 河海大学常州校区 | Anti-swing control method for crane |
| CN105388761A (en) * | 2015-12-10 | 2016-03-09 | 上海海事大学 | Positive and negative POSICAST input shaping method-based crane anti-swing control method |
| CN107150957A (en) * | 2016-03-03 | 2017-09-12 | 富士电机株式会社 | The angle of oscillation computing device of hanging object |
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