The invention discloses a crane anti-swing positioning control method based on near-end strategy optimization, which is characterized in that a crane and cable mechanism, a rope length detection module, a position and speed detection module, a swing angle detection module, a deep reinforcement learning controller and a control panel are included; the rope length detection module is used for detecting the rope length # imgabs0 #; the position and speed detection module is used for detecting a trolley position # imgabs 1 #, a cart position # imgabs 2 #, a trolley speed # imgabs 3 # and a cart speed # imgabs 4 #; the swing angle detection module is used for outputting a swing angle # imgabs 5 # and a swing angle velocity # imgabs 6 # of a hanging object; the control panel outputs a target position # imgabs7 # of a hoisted object and a mass # imgabs8 # of the hoisted object; the deep reinforcement learning controller inputs data collected by the above modules as state information, the data is processed and analyzed by the deep reinforcement learning controller to calculate an optimal control signal, and the control signal is transmitted to the large trolley, the small trolley and the cable mechanism.
本发明公开了一种基于近端策略优化的起重机防摇摆定位控制方法,其特征在于,包括行车和缆绳机构、绳长检测模块、位置速度检测模块、摆角检测模块、深度强化学习控制器和操控板;所述绳长检测模块,用于测出绳长#imgabs0#;所述位置与速度检测模块,用于检测出小车位置#imgabs1#,大车位置#imgabs2#,小车速度#imgabs3#,大车速度#imgabs4#;所述摆角检测模块,用于输出吊物摆角角度#imgabs5#和摆角角速度#imgabs6#;所述操控板输出吊物目标位置#imgabs7#和吊物质量#imgabs8#;所述深度强化学习控制器将上述各模块所采集的数据作为状态信息输入,经深度强化学习控制器处理与分析后计算出最优的控制信号,将控制信号输送至大、小车和缆绳机构。
Crane anti-swing positioning control method based on near-end strategy optimization
基于近端策略优化的起重机防摇摆定位控制方法
2025-05-30
Patent
Electronic Resource
Chinese
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