The invention provides an anti-splashing control method for a high-temperature molten metal transfer crane, and belongs to the technical field of molten metal transfer cranes. The anti-splashing control method for the high-temperature molten metal transfer crane comprises the following steps that S1, a dynamic model based on a bridge crane system is established; and S2, a dynamic model based on the bridge crane system is established. According to the anti-splashing control method, an energy controller realizes rapid and accurate positioning of a load of the bridge crane system, and swing of the load is effectively inhibited; and meanwhile, the influence of the gravity center of liquid on the system under the condition that the load is in a high-temperature liquid state is considered, a smooth shaper is used for preprocessing an operation command, so that load hanging oscillation induced by liquid shaking is fundamentally eliminated, and the robustness is relatively high. The transientcontrol performance of the system is effectively improved while the anti-swing positioning of the trolley is well realized.
本发明提供一种高温熔融金属转运吊车防外溅控制方法,属于熔融金属转运吊车技术领域。该高温熔融金属转运吊车防外溅控制方法包括如下步骤:S1:建立基于桥式吊车系统的动力学模型;S2:建立基于桥式吊车系统的动力学模型。本发明中能量控制器实现对桥式吊车系统负载物的快速准确定位,并有效地抑制它的摆动;与此同时,考虑负载为高温液态的情况下液体重心对系统造成的影响,利用光滑整形器对操作命令进行预处理,从根本上消除由液体晃动诱导的负载吊挂振荡,且具有较强得鲁棒性。在较好的实现台车的消摆定位的同时,有效的提升系统的暂态控制性能。
Anti-splashing control method for high-temperature molten metal transfer crane
一种高温熔融金属转运吊车防外溅控制方法
2020-04-10
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
METHOD FOR PREVENTING SPLASH OF HIGH-TEMPERATURE MOLTEN METAL TRANSFER CRANE
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