The invention discloses a tower crane track real-time planning method based on feedback anti-swing damping, which comprises the following steps: constructing a tower crane linearization simplified model along with cargo lifting motion by utilizing a Lagrange equation method; according to the internal structure of the simplified model, designing a feedback anti-swing damping item containing the full state of the cargo swing angle; in combination with the feedback anti-swing damping item and the positioning reference trajectory, generating a real-time planning trajectory of positioning anti-swing; and tracking the real-time planned trajectory by using a proportional-differential controller to achieve final positioning and swing elimination. According to the method, feedback anti-swing damping including the full state of the swing angle is designed, a composite track is planned and generated in real time in combination with the positioning reference track, the real-time track meets the positioning requirement and also improves the swing elimination capacity, the stable convergence speed of a tower crane system with goods lifting motion is increased, and finally, rapid and efficient trajectory tracking and positioning and cargo swing suppression can be realized.
本发明公开了一种基于反馈消摆阻尼的塔吊轨迹实时规划方法,包括利用拉格朗日方程法,构建伴随货物升降运动的塔吊线性化简化模型;根据所述简化模型的内部结构,设计一种含货物摆动角全状态的反馈消摆阻尼项;结合所述反馈消摆阻尼项和定位参考轨迹,生成定位消摆的实时规划轨迹;利用比例‑微分控制器,对所述实时规划轨迹进行跟踪,实现最终的定位与消摆。本发明设计了一种包含摆角全状态的反馈消摆阻尼,并结合定位参考轨迹实时规划生成一种复合轨迹,该实时轨迹即满足了定位要求也提高了摆动消除的能力,使带货物升降运动的塔吊系统稳定收敛速度得到了提高,最终能够实现快速高效的轨迹跟踪定位与货物摆动抑制。
Tower crane track real-time planning method based on feedback anti-swing damping
一种基于反馈消摆阻尼的塔吊轨迹实时规划方法
20.07.2021
Patent
Elektronische Ressource
Chinesisch
Tower crane luffing mechanism real-time anti-swing control method and anti-swing device
Europäisches Patentamt | 2020
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