CN113651239A - Speed adjusting method, device and equipment of crane system - Google Patents
Speed adjusting method, device and equipment of crane system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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Abstract
The application is applicable to the technical field of computers, and provides a speed adjusting method, a speed adjusting device and speed adjusting equipment of a crane system, wherein the method comprises the following steps: acquiring a preset given speed and a historical feedback control output value of target equipment; calculating to obtain the current correction speed according to the preset given speed and the historical feedback control output value; inputting the current correction speed into a preset state observation model for processing to obtain an observation state variable; calculating to obtain a current feedback control output value according to the observation state variable and a preset calculation configuration rule; and adjusting the preset given speed according to the current feedback control output value to obtain the target correction speed. According to the method, a large amount of data is obtained without a large amount of simulation or actual test, the current feedback control output value can be directly calculated, so that the preset given speed is adjusted, the anti-shaking effect is realized, the workload and the input cost are greatly reduced, and the applicability is improved.
Description
Technical Field
The application belongs to the technical field of computers, and particularly relates to a speed adjusting method, a speed adjusting device and speed adjusting equipment of a crane system.
Background
During the driving process of the crane, the load swings due to the influence of acceleration and inertia, the production efficiency is reduced, and the personal safety is endangered. In order to reduce or eliminate the swing, the prior art generally adopts the open loop control of the electronic anti-swing technology, and the load swing is restrained by simply adding a control algorithm. State feedback control is used as a relatively common electronic anti-shake method.
However, the current state feedback control method has adjustable factors in the selection of the expected pole, and no calculation rule with high adaptability exists. This makes this approach extremely inconvenient in engineering applications, requiring extensive simulation or actual testing to obtain the data. The workload in the early stage of application is large, the investment cost is high, and because the test times are limited, the optimal data under all working conditions cannot be acquired, and the applicability of the method is low.
Disclosure of Invention
The embodiment of the application provides a speed adjusting method, a speed adjusting device and speed adjusting equipment of a crane system, and the problems can be solved.
In a first aspect, an embodiment of the present application provides a speed adjustment method for a crane system, including:
acquiring a preset given speed and a historical feedback control output value of target equipment;
calculating to obtain a correction speed according to the preset given speed and the historical feedback control output value;
inputting the current correction speed into a preset state observation model for processing to obtain an observation state variable; the observation state variables comprise running speed, load swing angle and swing angle speed;
calculating to obtain a current feedback control output value according to the observation state variable and a preset calculation configuration rule;
adjusting the preset given speed according to the current feedback control output value to obtain a target correction speed; the target correcting speed is used for controlling the crane system.
Further, before the current correction speed is input into a preset state observation model for processing to obtain an observation state variable, the method includes:
acquiring a load swing model of the crane system, and acquiring a state space matrix of the load swing model;
and establishing a preset state observation model according to the state space matrix.
Further, the calculating to obtain the current feedback control output value according to the observation state variable and a preset calculation configuration rule includes:
calculating a feedback control gain matrix according to a preset pole allocation rule;
and calculating to obtain a current feedback control output value according to the observation state variable and the feedback control gain matrix.
Further, the calculating a feedback control gain matrix according to a preset pole allocation rule includes:
acquiring an ideal pole under an ideal state;
controller parameters are calculated from the ideal poles, and a feedback control gain matrix is determined from the controller parameters.
Further, the acquiring an ideal pole in an ideal state includes:
acquiring the system damping ratio and the natural frequency in the ideal state;
and calculating an ideal pole under an ideal state according to the system damping ratio and the natural frequency.
Further, after the preset given speed is adjusted according to the current feedback control output value to obtain a target correction speed, the method further includes:
acquiring the current speed, the current load swing angle and the current swing angular speed of the target equipment;
and when the current speed is consistent with the preset given speed and the current load swing angle and the current swing angle speed are both equal to 0, ending the adjustment.
In a second aspect, an embodiment of the present application provides a speed adjustment device for a crane system, including:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a preset given speed and a historical feedback control output value of target equipment;
the first calculating unit is used for calculating to obtain a correcting speed according to the preset given speed and the historical feedback control output value;
the first processing unit is used for inputting the current correction speed into a preset state observation model for processing to obtain an observation state variable; the observation state variables comprise running speed, load swing angle and swing angle speed;
the second calculation unit is used for calculating to obtain a current feedback control output value according to the observation state variable and a preset calculation configuration rule;
the adjusting unit is used for adjusting the preset given speed according to the current feedback control output value to obtain a target correction speed; the target correcting speed is used for controlling the crane system.
Further, the speed adjusting device of the crane system further comprises:
the second acquisition unit is used for acquiring a load swing model of the crane system and acquiring a state space matrix of the load swing model;
and the second processing unit is used for establishing a preset state observation model according to the state space matrix.
Further, the second calculating unit is specifically configured to:
calculating a feedback control gain matrix according to a preset pole allocation rule;
and calculating to obtain a current feedback control output value according to the observation state variable and the feedback control gain matrix.
Further, the second calculating unit is specifically configured to:
acquiring an ideal pole under an ideal state;
controller parameters are calculated from the ideal poles, and a feedback control gain matrix is determined from the controller parameters.
Further, the second calculating unit is specifically configured to:
acquiring the system damping ratio and the natural frequency in the ideal state;
and calculating an ideal pole under an ideal state according to the system damping ratio and the natural frequency.
Further, the speed adjusting device of the crane system further comprises:
the third acquisition unit is used for acquiring the current speed, the current load swing angle and the current swing angle speed of the target equipment;
and the third processing unit is used for finishing the adjustment when the current speed is consistent with the preset given speed and the current load swing angle and the current swing angle speed are both equal to 0.
In a third aspect, an embodiment of the present application provides a speed adjustment device for a crane system, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor, when executing the computer program, implements the speed adjustment method for the crane system as described in the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the speed adjustment method of the crane system according to the first aspect.
In the embodiment of the application, the preset given speed and the historical feedback control output value of the target equipment are obtained; calculating to obtain the current correction speed according to the preset given speed and the historical feedback control output value; inputting the correction speed into a preset state observation model for processing to obtain an observation state variable; calculating to obtain a current feedback control output value according to the observation state variable and a preset calculation configuration rule; and adjusting the preset given speed according to the current feedback control output value to obtain the target correction speed. According to the method, a large amount of data is obtained without a large amount of simulation or actual test, and the current feedback control output value can be directly calculated before the system works each time, so that the preset given speed is adjusted, the anti-shaking purpose is realized, the workload and the input cost are greatly reduced, a determined calculation rule with high applicability is provided by the method, and the applicability is improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a speed adjustment method of a crane system according to a first embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a zero pole of an ideal pole in a speed adjustment method of a crane system according to a first embodiment of the present disclosure;
FIG. 3 is a schematic view of a speed adjustment device of a crane system according to a second embodiment of the present disclosure;
fig. 4 is a schematic diagram of a speed adjustment device of a crane system provided in a third embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Referring to fig. 1, fig. 1 is a schematic flow chart of a speed adjustment method of a crane system according to a first embodiment of the present disclosure. The main execution body of the speed adjusting method of the crane system in the embodiment is equipment with the speed adjusting function of the crane system, such as a server, a desktop computer, and the like. The speed adjustment method of the crane system as shown in fig. 1 may include:
s101: and acquiring a preset given speed and a historical feedback control output value of the target equipment.
The crane refers to a multi-action crane for vertically lifting and horizontally carrying heavy objects within a certain range. In the present embodiment, the type of the crane is not limited, and is collectively referred to as a target device.
The device obtains a preset given speed and a historical feedback control output value of the target device. The historical feedback control output value refers to the feedback control output value used in the last adjacent adjusting process.
When the target device is started every time, the device can acquire a preset given speed in advance, and the preset given speed can be set by a user according to actual conditions. In this embodiment, a state feedback control method is used to achieve the purpose of anti-shake, the state feedback control method adjusts a preset given speed through a current feedback control output value, and the current feedback control output value of this time is obtained every time adjustment is performed. And the current feedback control output value obtained each time is used as the historical feedback control output value at the next adjustment.
The feedback controller may be understood as a feedback control model in which a rule for calculating a current feedback control output value is preset, and the feedback controller is configured to output the current feedback control output value obtained each time.
S102: and calculating to obtain the current correcting speed according to the preset given speed and the historical feedback control output value.
The equipment calculates the current correcting speed according to the preset given speed and the historical feedback control output value. The device is preset with a preset state observation model, the preset state observation model is used for obtaining an observation state variable, and the input of the preset state observation model is the current correction speed. The current correcting speed is the difference between the preset given speed and the historical feedback control output value. Specifically, the current correction speed is u (t), the preset given speed is v, and the historical feedback control output value is kx (t)'. Then u (t) ═ v-kx (t)'.
S103: inputting the correction speed into a preset state observation model for processing to obtain an observation state variable; the observed state variables include operating speed, load swing angle and swing angle speed.
As described in S102, a preset state observation model is preset in the device, the preset state observation model is used to obtain observation state variables, that is, the observation state variables of the operation speed, the load pivot angle, and the pivot angle speed are predicted, and the input of the preset state observation model is the current correction speed.
The equipment inputs the correction speed into a preset state observation model for processing to obtain an observation state variable, wherein the observation state variable comprises an operation speed, a load swing angle and a swing angle speed. The running speed, the load swing angle and the swing angle speed obtained through the preset state observation model are predicted on the premise of not additionally adding an angle sensor and an encoder.
Therefore, when the preset state observation model is constructed, the preset state observation model can be constructed according to the crane load swing model of the whole crane system. When a preset state observation model is constructed, equipment acquires a load swing model of a crane system and acquires a state space matrix of the load swing model; and establishing a preset state observation model according to the state space matrix.
Specifically, the crane system is regarded as a whole, a model is established by using a lagrange energy equation, and appropriate simplification processing is performed to obtain a crane load swing model shown by a state space expression, wherein the crane load swing model comprises a state equation and an output equation:
wherein the state variable
Input device
The output is y (t), and the state space matrix is:
t represents the time of day and t represents the time of day,
g represents the acceleration of the gravity,
l represents the length of the rope,
Kfwhich is indicative of the coefficient of friction,
theta represents a swing angle of the load,
After the state space matrix is obtained, a state observation model which is the same as the state space matrix is established as a preset state observation model.
S104: and calculating to obtain a current feedback control output value according to the observation state variable and a preset calculation configuration rule.
The device stores a preset calculation configuration rule for calculating to obtain a current feedback control output value, and calculates to obtain the current feedback control output value according to the observation state variable and the preset calculation configuration rule. The device can be provided with a state feedback controller, preset calculation configuration rules are stored in the state feedback controller, the observation state variable is used as the input of the state feedback controller, and the state feedback controller processes the observation state variable to obtain the current feedback control output value.
Specifically, the device calculates a feedback control gain matrix according to a preset pole allocation rule, where a state feedback closed-loop control system can be constructed, and a state feedback controller law of the state feedback closed-loop control system is as follows:
u(t)＝v-Kx(t)
wherein the feedback control gain matrix is K ═ K1 k2 k3]，k1,k2,k3Is the controller parameter that needs to be calculated and v is the preset given speed. Kx (t) is the current feedback control output value, which is calculated according to the observation state variable and the feedback control gain matrix. After the current feedback control output value is obtained by the equipment, the preset given speed can be adjusted to obtain the target correction speed.
Specifically, when the feedback control gain matrix is calculated, a pole allocation method is adopted to calculate the feedback control gain matrix, and the pole allocation is to enable the poles of the closed-loop system introduced with the state feedback controller to be in ideal positions. The calculation idea is to obtain the ideal position of the pole according to the expected performance index and to deduce a feedback control gain matrix. Therefore, the apparatus acquires an ideal pole in an ideal state, and calculates a controller parameter from the ideal pole, and determines a feedback control gain matrix from the controller parameter.
However, the existing pole allocation method does not provide a calculation rule which is determined and can adaptively acquire the controller parameters under different rope lengths, so that a large amount of early data is required as a support during adjustment, a large amount of resources are consumed, and optimal data cannot be acquired due to limited resources. Therefore, in order to solve the above problem, in the present embodiment, when acquiring the ideal pole in the ideal state, the device acquires the system damping ratio and the natural frequency in the ideal state, and then calculates the ideal pole in the ideal state according to the system damping ratio and the natural frequency. Therefore, the rope length self-adaption device can be self-adaptive to different rope lengths, a large amount of early-stage experiments are not needed for collecting data, and resources are saved.
Specifically, the state feedback controller law is: u (t) v-Kx (t)
The closed loop system state equation is:
the characteristic polynomial for obtaining the closed-loop system state equation is as follows:
wherein λ is an actual closed-loop pole of the closed-loop system state equation to be configured.
Firstly, the device determines the system damping ratio of the crane system in an ideal state to be ξ, as shown in fig. 2, fig. 2 is a schematic diagram of the zero pole of an ideal pole, and then β is 45 °, and ξ is 0.707; then, according to a typical second-order system natural frequency calculation formula, determining the ideal system natural frequency
According to the rise time T of the outputaDetermines the natural frequency omegan. In this embodiment, the rise time is calculated by the length l of the rope, and the rise time may be specifically calculated by using the following formula:
assuming the ideal pole form of the closed-loop system state equation as the dominant pole λ1,2At a distance of ═ a. + -. bi, λ3Where i is an imaginary symbol, a ═ ξ ωn，
Then the ideal characteristic polynomial is:
k can be calculated by the equipment through a characteristic polynomial under an ideal state and a characteristic polynomial of a closed-loop system state equation1,k2,k3Thereby determining controller parameters and determining a feedback control gain matrix based on the controller parameters.
Specifically, the device keeps the characteristic polynomial in the ideal state consistent with the characteristic polynomial of the closed-loop system state equation, and can obtain:
the purpose of the present embodiment when performing the adjustment is that the current speed needs to reach the preset given speed, and the realized steady state is that the load swing angle and the swing angle speed are both equal to 0, so according to this goal, it can be determined that: k is a radical of1＝1。
According to k1Can be calculated as 1
Thereby determining k2＝-l(a2+b2+2ac)+g+Kf，k3＝-l(2a+c-1)+Kf。
Device get k1,k2,k3Then according to k1,k2,k3Obtaining a feedback control gain matrix K ═ K1 k2 k3]。
S105: adjusting the preset given speed according to the current feedback control output value to obtain a target correction speed; the target correcting speed is used for controlling the crane system.
After the equipment acquires the current feedback control output value, the current feedback control output value is used as a feedback item to directly adjust the preset given speed to obtain the target correction speed, wherein the target correction speed is used for controlling the crane system.
In the adjusting process, the device can acquire the current speed, the current load swing angle and the current swing angle speed of the target device in real time; when the current speed is consistent with the preset given speed, and the current load swing angle and the current swing angle speed are both equal to 0, the current state is stable and does not swing, the anti-swing target of the crane system is realized, and then the equipment can finish the adjustment.
In the embodiment of the application, the preset given speed and the historical feedback control output value of the target equipment are obtained; calculating to obtain the current correction speed according to the preset given speed and the historical feedback control output value; inputting the correction speed into a preset state observation model for processing to obtain an observation state variable; calculating to obtain a current feedback control output value according to the observation state variable and a preset calculation configuration rule; and adjusting the preset given speed according to the current feedback control output value to obtain the target correction speed. According to the method, a large amount of data is obtained without a large amount of simulation or actual test, and the current feedback control output value can be directly calculated before the system works each time, so that the preset given speed is adjusted, and the swing of the crane caused by acceleration and deceleration is effectively inhibited. The workload and the investment cost are greatly reduced, and the method provides a determined calculation rule with high applicability and improves the applicability.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Referring to fig. 3, fig. 3 is a schematic diagram of a speed adjustment device of a crane system according to a second embodiment of the present disclosure. The units are included for performing the steps in the corresponding embodiment of fig. 1. Please refer to fig. 1 for the related description of the corresponding embodiment. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 3, the speed adjusting device 3 of the crane system includes:
a first obtaining unit 310, configured to obtain a preset given speed and a historical feedback control output value of a target device;
the first calculating unit 320 is configured to calculate a current correction speed according to the preset given speed and the historical feedback control output value;
the first processing unit 330 is configured to input the correction speed into a preset state observation model for processing, so as to obtain an observation state variable; the observation state variables comprise running speed, load swing angle and swing angle speed;
the second calculating unit 340 is configured to calculate to obtain a current feedback control output value according to the observation state variable and a preset calculation configuration rule;
the adjusting unit 350 is configured to adjust the preset given speed according to the current feedback control output value to obtain a target correction speed; the target correcting speed is used for controlling the crane system.
Further, the speed adjusting device 3 of the crane system further includes:
the second acquisition unit is used for acquiring a load swing model of the crane system and acquiring a state space matrix of the load swing model;
and the second processing unit is used for establishing a preset state observation model according to the state space matrix.
Further, the second calculating unit 340 is specifically configured to:
calculating a feedback control gain matrix according to a preset pole allocation rule;
and calculating to obtain a current feedback control output value according to the observation state variable and the feedback control gain matrix.
Further, the second calculating unit 340 is specifically configured to:
acquiring an ideal pole under an ideal state;
controller parameters are calculated from the ideal poles, and a feedback control gain matrix is determined from the controller parameters.
Further, the second calculating unit 340 is specifically configured to:
acquiring the system damping ratio and the natural frequency in the ideal state;
and calculating an ideal pole under an ideal state according to the system damping ratio and the natural frequency.
Further, the speed adjusting device 3 of the crane system further includes:
the third acquisition unit is used for acquiring the current speed, the current load swing angle and the current swing angle speed of the target equipment;
and the third processing unit is used for finishing the adjustment when the current speed is consistent with the preset given speed and the current load swing angle and the current swing angle speed are both equal to 0.
Fig. 4 is a schematic diagram of a speed adjustment device of a crane system provided in a third embodiment of the present application. As shown in fig. 4, the speed adjusting apparatus 4 of the crane system of this embodiment includes: a processor 40, a memory 41 and a computer program 42 stored in said memory 41 and executable on said processor 40, such as a speed adjustment program of a crane system. The processor 40, when executing the computer program 42, implements the steps in the embodiments of the method for adjusting the speed of each crane system described above, such as the steps 101 to 105 shown in fig. 1. Alternatively, the processor 40, when executing the computer program 42, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 310 to 350 shown in fig. 3.
Illustratively, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the processor 40 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 42 in the speed adjusting device 4 of the crane system. For example, the computer program 42 may be divided into a first acquiring unit, a first calculating unit, a first processing unit, a second calculating unit, and an adjusting unit, and the specific functions of each unit are as follows:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a preset given speed and a historical feedback control output value of target equipment;
the first calculating unit is used for calculating to obtain the current correcting speed according to the preset given speed and the historical feedback control output value;
the first processing unit is used for inputting the correction speed into a preset state observation model for processing to obtain an observation state variable; the observation state variables comprise running speed, load swing angle and swing angle speed;
the second calculation unit is used for calculating to obtain a current feedback control output value according to the observation state variable and a preset calculation configuration rule;
the adjusting unit is used for adjusting the preset given speed according to the current feedback control output value to obtain a target correction speed; the target correcting speed is used for controlling the crane system.
The speed adjustment device of the crane system may include, but is not limited to, a processor 40, a memory 41. It will be appreciated by a person skilled in the art that fig. 4 is only an example of a speed adjustment device 4 of a crane system and does not constitute a limitation of the speed adjustment device 4 of a crane system, and that it may comprise more or less components than shown, or some components in combination, or different components, e.g. the speed adjustment device of the crane system may also comprise input output devices, network access devices, buses, etc.
The Processor 40 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the speed adjusting device 4 of the crane system, such as a hard disk or a memory of the speed adjusting device 4 of the crane system. The memory 41 may also be an external storage device of the speed adjusting device 4 of the crane system, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the speed adjusting device 4 of the crane system. Further, the speed adjusting device 4 of the crane system may also comprise both an internal storage unit and an external storage device of the speed adjusting device 4 of the crane system. The memory 41 is used for storing the computer program and other programs and data required by the speed adjustment device of the crane system. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
An embodiment of the present application further provides a network device, where the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method of speed adjustment of a crane system, comprising:
acquiring a preset given speed and a historical feedback control output value of target equipment;
calculating to obtain the current correction speed according to the preset given speed and the historical feedback control output value;
inputting the current correction speed into a preset state observation model for processing to obtain an observation state variable; the observation state variables comprise running speed, load swing angle and swing angle speed;
calculating to obtain a current feedback control output value according to the observation state variable and a preset calculation configuration rule;
adjusting the preset given speed according to the current feedback control output value to obtain a target correction speed; the target correcting speed is used for controlling the crane system.
2. The method for adjusting the speed of a crane system according to claim 1, wherein before the step of inputting the current correcting speed into a preset state observation model for processing to obtain an observation state variable, the method comprises:
acquiring a load swing model of the crane system, and acquiring a state space matrix of the load swing model;
and establishing a preset state observation model according to the state space matrix.
3. The method for regulating the speed of a crane system according to claim 1, wherein the calculating a current feedback control output value according to the observed state variable and a preset calculation configuration rule comprises:
calculating a feedback control gain matrix according to a preset pole allocation rule;
and calculating to obtain a current feedback control output value according to the observation state variable and the feedback control gain matrix.
4. The method for adjusting the speed of a crane system according to claim 3, wherein the calculating a feedback control gain matrix according to the predetermined pole allocation rule comprises:
acquiring an ideal pole under an ideal state;
controller parameters are calculated from the ideal poles, and a feedback control gain matrix is determined from the controller parameters.
5. The method of claim 4, wherein the obtaining the ideal pole under the ideal condition comprises:
acquiring the system damping ratio and the natural frequency in the ideal state;
and calculating an ideal pole under an ideal state according to the system damping ratio and the natural frequency.
6. The method for adjusting the speed of a crane system according to claim 1, further comprising, after adjusting the preset given speed according to the current feedback control output value to obtain a target correction speed:
acquiring the current speed, the current load swing angle and the current swing angular speed of the target equipment;
and when the current speed is consistent with the preset given speed and the current load swing angle and the current swing angle speed are both equal to 0, ending the adjustment.
7. A speed adjustment device for a crane system, comprising:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a preset given speed and a historical feedback control output value of target equipment;
the first calculating unit is used for calculating to obtain a correcting speed according to the preset given speed and the historical feedback control output value;
the first processing unit is used for inputting the current correction speed into a preset state observation model for processing to obtain an observation state variable; the observation state variables comprise running speed, load swing angle and swing angle speed;
the second calculation unit is used for calculating to obtain a current feedback control output value according to the observation state variable and a preset calculation configuration rule;
the adjusting unit is used for adjusting the preset given speed according to the current feedback control output value to obtain a target correction speed; the target correcting speed is used for controlling the crane system.
8. The speed adjustment device of a crane system as claimed in claim 7, further comprising:
the second acquisition unit is used for acquiring a load swing model of the crane system and acquiring a state space matrix of the load swing model;
and the second processing unit is used for establishing a preset state observation model according to the state space matrix.
9. A speed adjustment device of a crane system comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the method according to any of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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| CN202110803199.1A CN113651239A (en) | 2021-07-15 | 2021-07-15 | Speed adjusting method, device and equipment of crane system |
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| CN202110803199.1A CN113651239A (en) | 2021-07-15 | 2021-07-15 | Speed adjusting method, device and equipment of crane system |
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