KR970001198A - Vibration Suppression and Position / Speed Control Method of Crane and Appropriate Device - Google Patents

Abstract

Disclosed are a method and a device for suppressing lateral vibration of a load and a position / speed of a load generated in a trolley transverse operation in a crane.

The traverse position / speed control apparatus of the crane according to the present invention includes a reference signal generator for the traverse position / speed of the trolley; An error signal generator for comparing an actual position / speed signal of the trolley with a reference position / speed signal to generate an error signal and an extended error signal that compensates for the elasticity and damping of the vibration angle generating system of the load; By using the parameters estimated from the error signal, the extended error signal and the parameter adaptation rule for estimating the parameters of the crane system, a control signal for controlling the vibration suppression and the position / speed of the load during the transverse run of the trolley is generated and applied to the crane. It includes a control device.

In the present invention, by providing a position / speed controller capable of eliminating the steady state position deviation of the trolley and the load while the vibration in the trolley transverse operation is appropriately suppressed, the operation speed of the trolley is reduced, the driving time is reduced, the operation cost is reduced, and the unmanned automation The improvement of the applicability to the device and the burden on the driver can be obtained.

Description

Vibration Suppression and Position / Speed Control Method of Crane and Appropriate Device

As this is a public information case, the full text was not included.

2 is a block diagram showing the vibration suppression and position / speed control apparatus according to the present invention.

Claims (3)

Claims [1] A transverse position / speed control method of a trolley for suppressing lateral fluctuations occurring in a load during a transverse transverse operation of a crane, the method comprising: generating a reference position / speed signal for a target position and a target speed of the trolley; Compensating the reference position / speed signal in consideration of the elasticity and damping of the vibration angle generating system of the load; Generating an error between the actual position / speed signal of the trolley and the reference position / speed; Vibration suppression and position / speed control method of the crane comprising the step of transverse operation of the trolley using the parameters estimated from the generated error signal and the parameter adaptation rules for estimating the parameters of the crane system. The method of claim 1, and determining the target position and the target speed by the formula x _{R2, R2} referred to as x, to vibrate extended reference value comprising the value resilient and damping compensation to each of the load generating system x _{d2, d2} x, Where ζ is the damping coefficient set point, θ is the oscillation angle, g is the gravitational acceleration, and ω = Where L is the length of the hoist rope and the parameter adaptive rule p is p = -ΓY ^T X _s -σΓp-, where σ = Vibration suppression and position / speed control method of a crane, wherein σ ₀ (> 1) and P ₀ (〉 || p ||) are switching constants and parameter upper limits. A transverse position / speed control apparatus of a crane for suppressing lateral fluctuations occurring in a load during a trolley transverse operation, comprising: a lift signal generator for a traverse position / speed of a trolley; An error signal generator for comparing an actual position / speed signal of the trolley with a reference position / speed signal to generate an error signal and an extended error signal that compensates for the elasticity and damping of the vibration angle generating system of the load; By using the parameters estimated from the error signal, the extended error signal and the parameter adaptation rule for estimating the parameters of the crane system, a control signal for controlling the vibration suppression and the position / speed of the load during the transverse run of the trolley is generated and applied to the crane. Transverse position / speed control device of a crane including a control device. ※ Note: The disclosure is based on the initial application.