Anti-swing control method for unmanned travelling crane

• Main Authors: MAO XUAN'ANG, LIU CHENGSI, YIN ZHUOHUA, XU HAI, ZHENG YI, LIAO JIHONG, YUAN FANGHAI
• Format: Patent
• Language: Chinese; English
• Published: 30.06.2020
• Subjects: CRANES; HAULING; HOISTING; LIFTING; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS,WINCHES, OR TACKLES; PERFORMING OPERATIONS; TRANSPORTING

The invention relates to the technical field of travelling crane control, and discloses an anti-swing control method for an unmanned travelling crane. The anti-swing control method for the unmanned travelling crane is characterized in that an anti-swing control program module id arranged in a travelling crane PLC, the free simple pendulum period of a hoisting load is T, the process of starting acceleration to a speed V of the travelling crane at time [0, T] is divided into a first acceleration stage and a second acceleration stage, in the first acceleration stage, the travelling crane accelerates from the speed 0 to the speed V/2 at the time [0, T/2], and in the second acceleration stage, the travelling crane accelerates from the speed V/2 to the speed V at the time [T/2, T]; the deceleration parking process of the travelling crane at the time [0, T] is divided into a first deceleration stage and a second deceleration stage, in the first deceleration stage, the travelling crane decelerates from the speed V to