The invention relates to a control method, device and equipment of an inertial system and a readable storage medium, the inertial system comprises a moving mechanism and a hanging piece connected below the moving mechanism, the moving mechanism is connected with a motor, and the motor can receive a frequency instruction of a frequency converter; the control method of the inertial system comprises the following steps: judging whether a deceleration limiting condition is met or not according to acquired movement information of the inertial system, and if so, performing terminal state control on the inertial system; if not, performing backswing control on the inertial system; the terminal state control comprises the following steps: establishing a terminal state control model according to a preset target state of the inertial system so as to control the inertial system to converge to the preset target state in a preset limited space or limited time; the backswing control comprises the step of carrying out notch filtering processing on an output frequency instruction of the frequency converter according to the oscillation frequency of the inertial system so as to control the output speed of the moving mechanism. According to the invention, the hanger can be effectively controlled not to swing, and the moving mechanism can be rapidly decelerated within a certain distance or within a certain time.

    一种惯性系统的控制方法、装置、设备及可读存储介质,惯性系统包括移动机构及连接在移动机构下方的吊挂件,移动机构连接有电机,电机能接收变频器的频率指令,惯性系统的控制方法包括:根据获取惯性系统的移动信息判断是否满足减速限位条件,若满足,则对惯性系统进行终端状态控制;若不满足,则对惯性系统进行回摆控制;终端状态控制包括:根据惯性系统的预设目标状态,建立终端状态控制模型,以在预设的有限空间或有限时间内,对惯性系统收敛到预设目标状态进行控制;回摆控制包括:根据惯性系统的振荡频率,对变频器的输出频率指令进行陷波滤波处理,以对移动机构的输出速度进行控制。本发明可有效控制吊挂件不发生摇摆,且能使移动机构在一定距离内或一定时间内快速减速。


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    Titel :

    Inertial system control method, device and equipment and readable storage medium


    Weitere Titelangaben:

    惯性系统的控制方法、装置、设备及可读存储介质


    Beteiligte:
    XIAO JIGANG (Autor:in) / CHEN LEI (Autor:in)

    Erscheinungsdatum :

    21.11.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES / H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern



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