Research On Anti-sway Method And Dynamic Landing Strategies Of Overhead Crane

As an important material transportation machine,overhead cranes are widely used in various industrial scenarios.Manual operation,which is a traditional operation method,cannot endure long-time working and severe working environment.With the development of the society,it cannot meet the requirements of transportation efficiency and safety gradually.Automation and intelligence are important trends of overhead cranes in the future.In the transition process from manual operation to automatic operation of overhead crane,the operating efficiency is the key influencing factors.Research on factors that may affect the operation efficiency of overhead cranes is carried out in this essay,especially anti-sway method and dynamic landing strategies.The main work of the essay includes:(1)This essay briefly introduces the overhead cranes and analyzes the factors that may affect the efficiency in the automatic operation process firstly.It is found that the swing of spreader has vital influence on the efficiency and the influence is reflected in horizontal motion and loading motion of the spreader.(2)A two-dimensional dynamic model based on Lagrange’s equation is established for the trolley and spreader system.The dynamic shows that trolley and spreader system is coupled and under-actuated which is composed of a driven part and a non-driven part.According to the coupling relationship between the acceleration of trolley and the swing angle of spreader,the trajectory planning of the trolley moving is carried out,which can make the swing angle is small as possible while achieving the smooth moving of trolley.Besides,a compound controller based on extended state observer and secondary regulator feedback is designed,which has good tracking performance and anti-disturbance performance.Simulations are carried out to verify the effectiveness of trajectory planning method and the performance of controller.(3)In view of the small swing during landing process,two dynamic landing strategies are proposed.The first landing strategy is based on the center point of swing.This method de-noises the output information of the accelerometer and the gyroscope based on a band-pass filter.The filtered data is used give the center point.The second strategy is based on the visual inertial odometry.The visual inertial odometry combines the data of inertial measurement uint and monocular camera to obtain real-time pose estimation,and then determine the moment of landing based on the pose.The actual operation results prove that these two strategies have good engineering application value.The horizontal moving process of trolley and the vertical moving process of spreader are studied successively.Through trajectory planning,design of controller and dynamic landing strategy,the influence of swing is reduced and the operation efficiency is improved.