CN119461048A - Bridge type grab ship unloader remote control method based on input shaping and track planning - Google Patents
Bridge type grab ship unloader remote control method based on input shaping and track planning Download PDFInfo
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Abstract
本发明公开一种基于输入整形和轨道规划的桥式抓斗卸船机防摇控制方法，涉及起重机技术领域，构建可描述变幅运动、旋转运动和起升运动的桥式抓斗卸船机系统动力学模型，根据起点和终点对运行过程的加速段、匀速段和减速段进行轨迹规划。根据桥式抓斗卸船机象鼻梁前端到吊重中心的钢丝绳绳长估计摆动周期，基于摆动周期对输入信号进行整形处理，减少系统的初始摆动。在匀速段，通过实时获取偏角，根据偏角大小和方向进行加减速控制，对运动过程中的实时扰动产生的摆动进行较好的抑制。本发明可以实现更优的防摆控制，提升桥式抓斗卸船机的稳定性和安全性，且本发明的控制方法简单，易于工程实现，具有十分广阔的工程应用前景。
The present invention discloses an anti-sway control method for a bridge-type grab ship unloader based on input shaping and track planning, which relates to the technical field of cranes. A system dynamics model of a bridge-type grab ship unloader that can describe variable amplitude motion, rotational motion and lifting motion is constructed, and trajectory planning is performed for the acceleration section, uniform speed section and deceleration section of the operation process according to the starting point and the end point. The swing period is estimated according to the length of the wire rope from the front end of the trunk beam of the bridge-type grab ship unloader to the center of the lifting weight, and the input signal is shaped based on the swing period to reduce the initial swing of the system. In the uniform speed section, the deflection angle is obtained in real time, and acceleration and deceleration control is performed according to the size and direction of the deflection angle, so as to better suppress the swing caused by the real-time disturbance in the movement process. The present invention can achieve better anti-sway control and improve the stability and safety of the bridge-type grab ship unloader. The control method of the present invention is simple and easy to implement in engineering, and has a very broad prospect for engineering application.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to a bridge grab ship unloader anti-swing control method based on input shaping and track planning and electronic equipment.
Background
The bridge type grab ship unloader is a bridge type crane which uses a moving trolley to drive a grab bucket to grab materials from a cabin and discharge the materials to an on-board hopper, and belongs to bulk material intermittent (or periodic) ship unloader. In the normal operation process of the bridge grab ship unloader, the bridge grab ship unloader is mainly realized by means of amplitude variation movement and rotation movement of the ship unloader and lifting and descending movement of a lifting mechanism. Due to inertia of each mechanism in acceleration and deceleration processes, under the influence of inertia, the motion state of the hanging weight in the operation process can lag or lead the motion of the mechanism, and the lag or lead of the part can lead the hanging weight to reciprocate around the hanging point at the front end of the bridge of the nose. Under one operation period working condition, if the hoisting deflection angle is not effectively controlled, the following problems exist:
firstly, when the rotary motion is finished, as the hanging weight still has an deflection angle, the hanging weight swings in space, the swing angle provides initial disturbance of the system and generates inertia force, so that the hanging weight swings to stop swinging under the action of friction force and wind resistance finally, but the duration time of the process is long.
Secondly, centrifugal force can be generated in the rotary motion, so that a large swing amplitude is generated in the hoisting.
The problems cause the operation efficiency and the operation safety of the bridge grab ship unloader to be reduced to a great extent.
Disclosure of Invention
In view of the above, the present invention aims to provide a method for controlling the anti-swing of a bridge grab ship unloader based on input shaping and track planning, so as to reduce the swing of the bridge grab ship unloader during operation.
In order to achieve the technical aim, the invention adopts the following technical scheme:
on the one hand, the invention provides a bridge grab ship unloader anti-swing control method based on input shaping and track planning, which comprises the following steps:
measuring the load mass and the rope length of the load of the bridge grab ship unloader, and determining the starting position and the target position of the goods to be carried;
The track comprises an acceleration section, a uniform speed section and a deceleration section, wherein the acceleration section comprises a variable amplitude movement speed and a rotation speed, the variable amplitude movement speed and the rotation speed are two parts, the uniform speed section is a movement stage from the maximum allowable speed of the bridge end point of the image to the beginning of the deceleration section, the aim is to control the crane to run at a uniform speed so as to meet long-distance running, and the deceleration section aims to control the crane trolley to decelerate to zero and reach the target position;
determining an initial driving force according to the offline trajectory planning;
estimating a swinging period according to the rope length of the load, and shaping the initial driving force according to the swinging period;
in the acceleration section and the deceleration section, the motor is controlled to operate at a variable speed based on the driving force after the shaping process.
Further, shaping the driving force according to the wobble period includes:
shaping the driving force according to the swing period;
constructing a bridge type grab ship unloader system dynamics model describing luffing motion, rotating motion and lifting motion;
inputting the driving force after the shaping treatment to the dynamics model, and predicting the swing angle of the crane;
Judging whether the swing angle of the crane is within a preset range, if not, carrying out shaping treatment on the driving force again until the swing angle of the crane is within the preset range.
Further, constructing a bridge grab ship unloader system dynamics model describing luffing motion, rotating motion and lifting motion, comprising:
Determining the rotation center position, the distance L between the front end of the trunk bridge and the rotation center, the length L of a steel wire rope between the center of the crane and the front end of the trunk bridge, the rotation angle alpha and the pitching angle beta of the arm support;
and establishing dynamic equations of amplitude displacement, rotation angle, lifting rope length and lifting swing angle based on Lagrange equation.
Further, predicting the swing angle of the sling includes:
;
;
Wherein, theta 1 represents the swing angle in the plane of the amplitude-variable motion of the crane, theta 2 represents the out-of-plane swing angle of the crane, mu represents the wind resistance and friction influence coefficient in the environment, 、Representing the second derivative of theta 1、θ2 respectively,、Is the first derivative of theta 1、θ2,、The first derivative and the second derivative of α are respectively represented.
Further, shaping the initial driving force according to the wobble period includes:
the initial driving force is convolved with pulse trains of different input shapers.
Further, the pulse sequence of the input shaper satisfies the following constraint equation:
;
Wherein, Representing the amplitude of the 1st pulse sequence,Representing the amplitude of the 2 nd pulse sequence,Indicating the time lag of the 1st pulse sequence,Indicating the time lag of the 2 nd pulse sequence,Representation for determining、The dimensionless number of the proportional relationship,The period of the wobble is indicated and,Representing the damping ratio.
Further, the method further comprises the following steps:
And in the constant speed section, acquiring the out-of-plane swing angle of the hanging weight through a sensor at the front end of the trunk bridge, feeding back the out-of-plane swing angle of the hanging weight to the rotating mechanism, and performing acceleration and deceleration control according to the size and the direction of the out-of-plane swing angle of the hanging weight to realize quick stopping and swinging when the hanging weight reaches the end position.
Further, acceleration and deceleration control is performed according to the magnitude and the direction of the out-of-plane swing angle of the crane, and the acceleration and deceleration control comprises the steps of feeding back the out-of-plane swing angle of the crane to the anti-swing controller in real time and restraining the load swing angle by the rotation angular velocity.
Further, the output of the anti-roll and anti-sway controller comprises:
;
;
wherein, psi represents the coefficient of the controller under different working conditions, As a function of the adaptation of the function,For the out-of-plane pivot angle of the sling,Represents the rotation angular velocity adjustment amount output by the controller,The time of the run-time is indicated,For a start time of one run-time period,Is an end time of one run period.
In still another aspect, the invention further provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein when the processor executes the computer program, the method for controlling the bridge grab ship unloader to prevent remote control based on input shaping and track planning is realized.
Compared with the prior art, the scheme of the invention has the following beneficial effects:
The invention discloses a bridge type grab ship unloader anti-swing control method based on input shaping and track planning, which adopts a fusion control strategy of input shaping and track planning, firstly convolves an initial input signal of a system with pulse sequences of different input shapers, reduces the initial swing of the system by reducing the swing caused by the motion of a crane mechanism, simultaneously feeds back the swing angle to an anti-swing controller in real time, and controls the rotation angular velocity to further inhibit the load swing angle in the operation process according to the hook following principle, thereby achieving the rapid stopping swing at a discharging point and effectively improving the operation efficiency and the safety of the bridge type grab ship unloader.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of a six degree of freedom mathematical model of a bridge grab ship unloader in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control system for a bridge grab ship unloader in accordance with an embodiment of the present invention;
Fig. 3 is a flow chart of a control method of the bridge grab ship unloader in the embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1 to 3, in an embodiment of the invention, a method for controlling the anti-swing of a bridge grab ship unloader based on input shaping and track planning comprises the following steps:
s1, measuring the load mass and the rope length of the load of the bridge grab ship unloader, and determining the starting position and the target position of the goods to be carried.
S2, performing off-line track planning on the running process according to the initial position and the target position.
The track mainly comprises three parts, namely an acceleration section, a uniform speed section and a deceleration section. In the accelerating section, the end point of the nose bridge moves from an initial state to a speed specified by design requirements, wherein the speed comprises an amplitude variable movement speed and a rotation speed, the constant speed section is a movement stage from the end point of the nose bridge reaching the maximum allowable speed to the beginning of the decelerating section, the aim is to control the crane to run at a constant speed so as to meet the possible long-distance running, and the aim of the decelerating section is to control the crane trolley to decelerate to zero and reach the aim position.
S3, determining initial driving force according to offline trajectory planning.
The initial driving force here includes the operating parameters of speed, acceleration, etc.
And the accelerating section aims at controlling the crane trolley to accelerate to the target position so as to ensure that the load swing state can return to the zero point again after the accelerating section is finished. To ensure that the speed of the crane trolley reaches the target position is 0, the acceleration of the stage needs to be calculated in combination with the subsequent stage。
A constant speed section, the aim is to control the crane to run at constant speed so as to meet the possible long-distance running, and the acceleration of the sectionAt 0, the run time of this phase is calculated from the target position.
And a deceleration section, wherein the aim is to control the crane trolley to decelerate to zero and reach the target position. To ensure that the load swing angle returns to zero, accelerationThe requirements are as follows:
;
in order to prevent the swing depression angle from exceeding the limit of the maximum load swing angle theta max in operation, acceleration The requirements are as follows:
。
s4, estimating a swinging period according to the rope length of the load, and shaping the initial driving force according to the swinging period.
Specifically, the swing period T is estimated according to the length of a steel wire rope from the front end of a bridge type grab ship unloader trunk bridge to the center of a crane weight:
。
s5, in the acceleration section and the deceleration section, the motor is controlled to operate in a variable speed mode based on the driving force after the shaping treatment.
In a specific implementation, S4 may be performed according to the following steps, including:
S42, constructing a bridge type grab ship unloader system dynamics model describing luffing motion, rotary motion and lifting motion;
Specifically, a bridge grab ship unloader system dynamics model capable of describing luffing motion, rotary motion and lifting motion is built based on a Lagrangian equation, and has three state variables as input quantities, namely a nose bridge front end depression angle beta, a rotation angle alpha and a lifting rope length l, and other non-driving state variables, wherein the model has six degrees of freedom in total as shown in figure 1.
The coordinates of the hanging weight position are as follows:
;
the dynamic model matrix form of the bridge type grab ship unloader system can be obtained by the Lagrangian function:
;
;
;
Wherein M represents an inertia matrix, C represents a Ke Shili matrix, G represents a gravity vector part, U comprises an input quantity, F comprises air resistance and friction terms, F is a friction compensation coefficient, and d is an air resistance coefficient. Due to inertia of each mechanism in acceleration and deceleration processes, under the influence of inertia, the motion state of the crane in the operation process is lagged or advanced relative to the motion of the mechanism, and the lagging or advancing of the part can enable the crane to reciprocate around the lifting point at the front end of the bridge of the nose to generate a swing angle.
S42, shaping the initial driving force according to the swing period;
The shaping processing of the input signal (initial driving force) based on the swinging period T comprises the steps of convoluting the initial input signal of the system with pulse sequences of different input shapers, and planning tracks of an acceleration section, a constant speed section and a deceleration section to reduce swinging caused by the movement of a mechanism of the crane, reduce the initial swinging of the system and achieve the purpose of reducing the swinging of the crane weight.
The pulse sequence input into the shaper needs to satisfy the following constraint equation:
Wherein, Representing the amplitude of the 1st pulse sequence,Representing the amplitude of the 2 nd pulse sequence,Indicating the time lag of the 1st pulse sequence,Indicating the time lag of the 2 nd pulse sequence,Representation for determining、The dimensionless number of the proportional relationship,The period of the wobble is indicated and,Representing the damping ratio.
S43, inputting the driving force after the shaping treatment to a dynamics model, and predicting the swing angle of the crane;
In the Lagrangian function, the corresponding expression of the in-plane offset angle theta 1 and the out-of-plane offset angle theta 2 is as follows:
;
;
s44, judging whether the swing angle of the crane is within a preset range, if not, returning to S42, and carrying out reshaping treatment on the driving force again until the swing angle of the crane is within the preset range.
The offset angle theta 1 generated by the amplitude variation mechanism is subjected to open loop feedforward control through input shaping. By reducing the shaking caused by the movement of the mechanism of the crane, the initial swinging of the system can be reduced, and the in-plane swinging angle theta 1 generated by the amplitude-changing movement can be effectively controlled.
In another embodiment, the anti-roll control method further comprises:
s6, acquiring the out-of-plane swing angle of the hanging weight through a sensor at the front end of the trunk bridge at a constant speed section, feeding back the out-of-plane swing angle of the hanging weight to the rotating mechanism, and performing acceleration and deceleration control according to the size and the direction of the out-of-plane swing angle of the hanging weight to realize quick stopping and swinging when the hanging weight reaches the end position.
Note that, the control for θ 2 in S6 is relatively independent of the control for θ 1 in S3 to S5 in the above embodiment, and may be executed separately or together.
The out-of-plane offset angle theta 2 generated by the rotational motion is controlled by a rotation mechanism.
In the constant speed section, the deflection angle is acquired through a sensor at the front end of the nose bridge, the deflection angle is fed back to the rotating mechanism, acceleration and deceleration control is carried out according to the size and the direction of the deflection angle, and rapid stopping and swinging when the crane weight reaches the end position are realized.
The acceleration and deceleration control is specifically carried out according to the magnitude and the direction of the deflection angle, namely the deflection angle theta 2 is fed back to the anti-swing controller in real time, and the controller moves towards the direction of reducing the swing amplitude according to an anti-swing algorithm, controls the rotation angular velocity and further inhibits the load deflection angle to reduce the load deflection angle.
To more clearly describe the controller design process, FIG. 2 shows a block diagram of the control system. The input of the control system is the rotation angular velocity omega of the turntable, the controlled object is a motor and a mechanical transmission system of the gantry crane, the output is the rotation angular displacement theta of the gantry crane, the feedback quantity is the outer deflection angle theta 2 of the lifting plane, and the feedback value is the rotation angular velocity adjustment quantity omega c.
The anti-swing mechanism is used for preventing swing by controlling the anti-swing device to move along the load in the same direction, reducing the torque, reducing the actual amplitude, continuously following, and reducing the load swing till the load stops swinging.
The anti-swing controller adopts the following anti-swing algorithm:
;
;
Wherein, The rotation angular velocity adjustment quantity output by the controller is represented, psi represents coefficients of the controller under different working conditions, r (t) is an adaptive function, and the sudden change of the control quantity fed back is prevented from causing larger impact on the system. The positive and negative directions of θ 2 are defined as positive when the sling is to the left of the zero point position and negative when the sling is to the right of the zero point position.
The closed-loop feedback control of the constant-speed section can restrain the swing of the suspended object in the working period, so that the swing generated by real-time disturbance in the motion process is better restrained, the response speed is faster, and meanwhile, the stability and the safety of the bridge type grab ship unloader can be enhanced.
In the embodiment, a fusion control strategy of input shaping and track planning is adopted, firstly, an initial input signal of a system is convolved with pulse sequences of different input shapers, initial swing of the system can be reduced by reducing swing caused by self-mechanism motion of a crane, an in-plane swing angle theta 1 generated by amplitude-variable motion is effectively controlled, meanwhile, an out-of-plane swing angle theta 2 caused by rotary motion is fed back to an anti-swing controller in real time according to a hook following principle, and the controller moves towards a direction of reducing swing amplitude according to an anti-swing algorithm, and controls a rotation angular speed to further inhibit load swing angle to reduce, so that rapid stopping swing at a discharging point is achieved. The bridge type grab ship unloader remote control method based on the input shaping and the track planning adopts the fusion control strategy of the input shaping and the track planning, so that the operation efficiency and the safety of the bridge type grab ship unloader can be effectively improved.
The technical scheme of the invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the method for controlling the bridge grab ship unloader to prevent remote control based on input shaping and track planning can be realized when the processor executes the computer program.
It should be noted that the above embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09156876A (en) * | 1995-12-06 | 1997-06-17 | Mitsui Eng & Shipbuild Co Ltd | Shake stopping device for crane |
| CN110436347A (en) * | 2019-08-23 | 2019-11-12 | 武汉理工大学 | A kind of bridge crane double pendulum system optimization is anti-to shake control method |
| CN110950241A (en) * | 2019-12-20 | 2020-04-03 | 博睿斯重工股份有限公司 | Electronic anti-swing method of intelligent crane |
| CN111153328A (en) * | 2020-04-02 | 2020-05-15 | 上海驭矩信息科技有限公司 | Anti-swing control method and system of hoisting system based on LQR |
| CN116924101A (en) * | 2023-04-04 | 2023-10-24 | 宝信软件(武汉)有限公司 | Ship unloader anti-rolling method and system based on input shaper |
-
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- 2025-01-17 CN CN202510072334.8A patent/CN119461048A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09156876A (en) * | 1995-12-06 | 1997-06-17 | Mitsui Eng & Shipbuild Co Ltd | Shake stopping device for crane |
| CN110436347A (en) * | 2019-08-23 | 2019-11-12 | 武汉理工大学 | A kind of bridge crane double pendulum system optimization is anti-to shake control method |
| CN110950241A (en) * | 2019-12-20 | 2020-04-03 | 博睿斯重工股份有限公司 | Electronic anti-swing method of intelligent crane |
| CN111153328A (en) * | 2020-04-02 | 2020-05-15 | 上海驭矩信息科技有限公司 | Anti-swing control method and system of hoisting system based on LQR |
| CN116924101A (en) * | 2023-04-04 | 2023-10-24 | 宝信软件(武汉)有限公司 | Ship unloader anti-rolling method and system based on input shaper |
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