The invention provides a damping control method and a damping control system of an unmanned crown block, relates to the field of unmanned crown blocks, and solves the problem of large shaking of existing parking. The method comprises the following steps: obtaining damping compensation time, common gravity of the unmanned crown block and a heavy object carried by the unmanned crown block, and disturbance speed and disturbance acceleration of the lower end of the unmanned crown block; calculating a damping compensation distance; calculating disturbance force; and controlling the unmanned crown block to move for a damping compensation distance according to the disturbing force and then stop. The system comprises an obtaining module used for obtaining damping compensation time, the gravity of the unmanned crown block and a heavy object carried by the unmanned crown block, and the disturbance speed and the disturbance acceleration of the lower end of the unmanned crown block; the calculation module is used for calculating a damping compensation distance and calculating disturbance force; and the control module is used for controlling the unmanned crown block to move by the damping compensation distance according to the disturbance force and then stop. Wobbling of the heavy object can be reduced, the parking stability of the unmanned crown block is improved, and the positioning precision of the mechanical claw is improved.

    本发明提供了一种无人天车的阻尼控制方法和阻尼控制系统,涉及无人天车领域,解决了现有驻车晃动大的问题,方法包括:获得阻尼补偿时间、无人天车与其所搬运重物的共同重力、无人天车下端的扰动速度及扰动加速度;计算阻尼补偿距离;计算扰动力;根据所述扰动力控制无人天车移动阻尼补偿距离后停止。系统包括:获取模块,用于获得阻尼补偿时间、无人天车与其所搬运重物的重力、无人天车下端的扰动速度及扰动加速度;计算模块,用于计算阻尼补偿距离和计算扰动力;控制模块,用于根据所述扰动力控制无人天车移动所述阻尼补偿距离后停止。本发明能够减小了重物晃动、提高了无人天车的驻车稳定性和提高了机械爪的定位精度。


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    Title :

    Damping control method and damping control system of unmanned crown block


    Additional title:

    一种无人天车的阻尼控制方法和阻尼控制系统


    Contributors:
    LI BING (author) / YUAN LIPENG (author) / LU DI (author)

    Publication date :

    2023-12-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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