The invention discloses a crane motion control method and system. The crane motion control method comprises the following steps: acquiring GPS data of an arm head position, a rotation center and a lifting hook of a crane; processing the GPS data to obtain arm head position information, lifting hook position information, arm head speed information, lifting hook speed information and relative distance information among an arm head, a rotation center and a lifting hook; and carrying out telescopic speed control, variable-amplitude vertical/horizontal direction speed control, winch control and rotation control on the crane according to the information obtained after processing. The method has the advantages that a final control target is used as feedback quantity for motion control, the adaptability and external interference resistance of a control system are enhanced, and the influence on parameter differences of execution components is reduced; the movement speed can be monitored in real time, and fault diagnosis is realized under abnormal conditions; the influence of parameter changes on the control performance after the system operates for a long time is reduced, and the consistency of the control performance is kept.
本发明公开了一种起重机运动控制方法及系统,包括:获取起重机的臂头位置、回转中心以及吊钩处的GPS数据;对GPS数据进行处理,得到臂头位置信息、吊钩位置信息、臂头速度信息、吊钩速度信息以及臂头、回转中心、吊钩相互之间的相对距离信息;根据处理后得到的信息对起重机进行伸缩速度控制、变幅垂直/水平方向速度控制、卷扬控制、回转控制。优点:将最终控制目标作为反馈量进行运动控制,增强控制系统适应性和抗外界干扰能力,降低对执行元器件参数差异的影响;能够实时监测运动速度,异常情况实现故障诊断;降低系统长时间运行后各参数变化对控制性能的影响,保持控制性能的一致性。
Crane motion control method and system
一种起重机运动控制方法及系统
2023-04-18
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |