A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Control method for cantilever crane, storage medium, processor and cantilever crane
The embodiment of the invention provides a control method for a cantilever crane, a storage medium, a processor and the cantilever crane. The method comprises the steps that under the condition that it is determined that the boom vibrates relative to a preset initial position, a target boom section to be controlled in the multiple boom sections is determined; determining actual vibration parameters of the target arm section; the actual vibration parameters are input into a PID controller, and an execution signal of a target momentum wheel corresponding to the target arm section is determined through the PID controller; and controlling the target momentum wheel to move according to the execution signal to output a corresponding torque so as to control the target arm section to stop vibrating and return to a preset initial position. According to the technical scheme, the torque for suppressing vibration is directly applied to the arm section of the arm support, so that the accuracy and the timeliness of arm support control are greatly improved. The cantilever crane is controlled in a closed-loop control mode, the response speed is high, the cantilever crane can be adjusted in time, and the control efficiency and control quality of the cantilever crane are improved.
本申请实施例提供一种用于臂架的控制方法、存储介质、处理器及臂架。方法包括：在确定臂架相对于预设初始位置发生振动的情况下，确定多个臂节中待进行控制的目标臂节；确定目标臂节的实际振动参数；将实际振动参数输入至PID控制器，以通过PID控制器确定针对目标臂节对应的目标动量轮的执行信号；控制目标动量轮按照执行信号运动以输出对应的扭矩，以控制目标臂节停止振动且回归至预设初始位置。通过上述技术方案，在臂架的臂节上直接施加抑制振动的扭矩，大大提高臂架控制的准确性和及时性。通过闭环控制方式控制臂架，响应速度较快，能够及时调整臂架，提高臂架的控制效率和控制质量。
Control method for cantilever crane, storage medium, processor and cantilever crane
The embodiment of the invention provides a control method for a cantilever crane, a storage medium, a processor and the cantilever crane. The method comprises the steps that under the condition that it is determined that the boom vibrates relative to a preset initial position, a target boom section to be controlled in the multiple boom sections is determined; determining actual vibration parameters of the target arm section; the actual vibration parameters are input into a PID controller, and an execution signal of a target momentum wheel corresponding to the target arm section is determined through the PID controller; and controlling the target momentum wheel to move according to the execution signal to output a corresponding torque so as to control the target arm section to stop vibrating and return to a preset initial position. According to the technical scheme, the torque for suppressing vibration is directly applied to the arm section of the arm support, so that the accuracy and the timeliness of arm support control are greatly improved. The cantilever crane is controlled in a closed-loop control mode, the response speed is high, the cantilever crane can be adjusted in time, and the control efficiency and control quality of the cantilever crane are improved.
本申请实施例提供一种用于臂架的控制方法、存储介质、处理器及臂架。方法包括：在确定臂架相对于预设初始位置发生振动的情况下，确定多个臂节中待进行控制的目标臂节；确定目标臂节的实际振动参数；将实际振动参数输入至PID控制器，以通过PID控制器确定针对目标臂节对应的目标动量轮的执行信号；控制目标动量轮按照执行信号运动以输出对应的扭矩，以控制目标臂节停止振动且回归至预设初始位置。通过上述技术方案，在臂架的臂节上直接施加抑制振动的扭矩，大大提高臂架控制的准确性和及时性。通过闭环控制方式控制臂架，响应速度较快，能够及时调整臂架，提高臂架的控制效率和控制质量。
Control method for cantilever crane, storage medium, processor and cantilever crane
用于臂架的控制方法、存储介质、处理器及臂架
TONG XIANGWEI (author) / YIN JUN (author) / FU WEIJIE (author) / WU LIANG (author)
2023-06-09
Patent
Electronic Resource
Chinese
IPC:
E04G
SCAFFOLDING
,
Baugerüste
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