CN-122009971-A - Posture control method, device, terminal and medium for four-rope lifting appliance

CN122009971ACN 122009971 ACN122009971 ACN 122009971ACN-122009971-A

Abstract

The invention belongs to the technical field of port hoisting equipment, and particularly relates to a gesture control method, a gesture control device, a gesture control terminal and gesture control medium for a four-rope lifting appliance. The invention adopts a prediction control strategy, utilizes the acquired information such as real-time position, attitude, tension, wind speed and the like, substitutes the information into a dynamics model, and carries out numerical integration prediction on the motion trail in a future period of time through a differential equation set. The whole control process does not depend on a high-precision image recognition system, so that the dependence on a visual sensor and a complex image processing algorithm is reduced, and the universality and engineering adaptability of the system are improved.

Inventors

ZHANG PENG
YANG JIE
TENG CHU
Liu Quanze
SUN JING
MA TAO
ZHUANG SHUJIE
AI MINGFEI
JIA PENG
GUO HONGYUE
YU HAI
ZHANG SHUZHONG
WANG XIN
DU QIANG

Assignees

青岛港国际股份有限公司
青岛前湾联合集装箱码头有限责任公司
大连海事大学

Dates

Publication Date: 20260512
Application Date: 20251204

Claims (10)

1. The attitude control method for the four-rope sling is characterized by comprising the following steps of: S1, establishing a space model, wherein the space model comprises a trolley model, a lifting appliance model and a rope model; S2, constructing a dynamics model, wherein the dynamics model comprises a rope dynamics model and a lifting tool dynamics model, the lifting tool dynamics model is a rigid body system with six degrees of freedom, and the lifting tool dynamics model uses Euler angles as parameters for describing the gesture; s3, acquiring control information in real time, wherein the control information comprises position information and attitude information of a lifting appliance, tension information of each rope and environmental information; And S4, substituting the control information obtained in the step S3 into a dynamic model, predicting the movement track of the lifting appliance in a future period, and controlling the lifting appliance to descend to finish box loading when the distance between a predicted point and a target box loading point in the predicted track is smaller than an accuracy threshold value.
2. The attitude control method for a four-rope spreader according to claim 1, wherein in step S2, the state variables in the spreader dynamics model include a spreader centroid position Attitude angle Centroid linear velocity Angular velocity of posture Angular velocity vector Wherein the relationship of the angular velocity and the euler angle satisfies the following conversion relationship: wherein the matrix Is a nonlinear transformation matrix of Euler angular rotation speed.
3. The attitude control method for a four-rope sling according to claim 1, wherein in step S2, the rope model is a non-extensible model in which the geometrical constraints are satisfied between each rope connection point: Wherein, the And Respectively show the first place on the trolley and the lifting appliance The spatial coordinates of the individual anchor points, , Is a fixed length of rope; the constraint of the equation is introduced into the Lagrangian system equation, and the generalized coordinates of the system are as follows The Lagrangian equation is modified as: Wherein, the Is Lagrangian multiplier, corresponding to The magnitude of the restraining force of the root rope represents the tension of the rope, and the tension direction is constant along the unit vector: Wherein, the In the direction of the tension, the first The root rope is anchored by a lifting appliance Directional trolley anchor point Is a unit vector of (a).
4. The attitude control method for a four-rope sling according to claim 3, wherein the tension is solved by a dynamic equilibrium equation, and the total translational equation is satisfied: wherein M is the mass of the lifting appliance, Is the mass center acceleration vector of the lifting appliance, Is external disturbance force; the external disturbance force source is wind load disturbance, and the expression is: Wherein, the As a coefficient of resistance (f) of the material, Is air density, A is the windward area of the lifting appliance and the container, For the speed of the spreader, For the wind speed of the wind, Is the relative velocity direction.
5. The attitude control method for a four-rope spreader according to claim 2, wherein the rotation dynamics of the spreader are based on euler's law of rotation, satisfying: Wherein, the For the inertial tensor of the spreader, Is the first Lifting appliance with rope anchor points opposite to each other a location vector of the centroid.
6. The attitude control method for a four-rope spreader according to claim 5, wherein in step S4, a predictive model is built, using a differential equation set over a time window Numerical integration is carried out to obtain the centroid track of the lifting appliance in the future time period And the change curve of the posture The differential equation set is: if in the prediction time window At a certain moment in time The following trigger conditions are satisfied: Wherein, the As the threshold value of the accuracy is set, At the moment of the center of mass of the lifting appliance Is used for the position vector of (a), The target vanning point position.
7. The attitude control method for a four-rope spreader according to claim 6, wherein the controller is at the moment of time Issuing a down control command, wherein The command includes a desired descent speed: Wherein, the In order to control the rate of descent, For the early compensation time of the controller response lag, For the vertical height of the target landing point, At the moment of the center of mass of the lifting appliance Is arranged at the bottom of the frame, The time to trigger the lowering action is advanced.
8. A attitude control system for a four-rope spreader, comprising: The modeling module is used for establishing a space model and a dynamics model of the four-rope lifting appliance, wherein the space model comprises a trolley model, a lifting appliance model and a rope model, and the dynamics model comprises a non-extensible rope model and a six-degree-of-freedom lifting appliance rigid body model described by Euler angles; The information acquisition module is used for acquiring control information in real time, wherein the control information comprises position information, attitude information of a lifting appliance, tension information of each rope and environment information, the position information and the attitude information are acquired through a laser range finder, an inertial measurement unit or a gyroscope, the tension information is acquired through a tension sensor, and the environment information comprises wind speed data acquired by a wind speed sensor; The track prediction module is used for substituting the control information into the dynamic model, carrying out numerical integration based on a translation equation and an Euler rotation equation in the model, and calculating a centroid track and a gesture change track of the lifting appliance in a future time window; The control judgment module is used for judging whether a certain moment exists in the predicted track, the space distance between the corresponding centroid position and the target box-landing point is smaller than a preset precision threshold value, and if the space distance is met, a descending instruction is sent to the lifting controller; And the descending control module is used for calculating the descending speed based on the predicted trigger time and controlling the lifting appliance to synchronously descend when the lifting appliance is predicted to reach the target point, wherein the descending speed is jointly determined by the current height, the target height and the system response compensation time.
9. A terminal, comprising: a memory for storing a posture control simulation program; a processor for implementing the steps of the attitude control method for a four-wire spreader according to any one of claims 1-7 when executing the attitude control system for a four-wire spreader.
10. A computer-readable storage medium storing computer instructions, wherein when the computer instructions in the storage medium are read by a computer, the computer performs a posture control method for a four-rope sling according to any one of claims 1 to 7.

Description

Posture control method, device, terminal and medium for four-rope lifting appliance Technical Field The invention belongs to the technical field of port hoisting equipment, and particularly relates to a gesture control method, a gesture control device, a gesture control terminal and a gesture control medium for a four-rope lifting appliance. Background Among the port facilities, heavy equipment such as rail cranes, bridge cranes and the like becomes a core equipment for port container loading and unloading operations by virtue of the strong lifting capacity and the characteristic of being suitable for large-scale operations. The four-rope lifting appliance has extremely wide application in the heavy port equipment due to the excellent structural stability, can ensure the safety and stability of grabbing containers in the loading and unloading process, and lays a solid foundation for the efficient operation of ports. However, in the actual automatic operation process, because four ropes are difficult to achieve complete uniformity when being stressed, especially when encountering complex working conditions such as wind load interference, wind force acts on the lifting appliance and the container, an additional and constantly changing external force can be formed, so that the dynamic balance of the lifting appliance system with tension difference and swing characteristic originally exists is further broken, and the precision of box loading is difficult to achieve the requirement of accurate loading and unloading. Existing methods currently employed in the industry mostly employ real-time vision correction or manual control to attempt to address these issues. The real-time vision correction system can capture the position deviation of the lifting appliance and the container to a certain extent and make adjustment in time, but is a passive response mode more, corrects the current deviation which has occurred, and lacks the capability of modeling physical prediction of future swing trend of the lifting appliance. However, manual control is limited by factors such as labor cost, personnel fatigue, reaction speed and the like, and stable and efficient continuous intervention is difficult to realize in the whole automatic flow. Disclosure of Invention Aiming at the problems in the prior art, the invention provides a posture control method, a device, a terminal and a medium for a four-rope lifting appliance, which solve the problems of low box placement accuracy caused by data delay and unpredictable position when the position of a container is adjusted by adopting real-time vision correction in the prior art, and simultaneously solve the problems of limited sight or low box placement accuracy caused by insufficient manual experience due to narrow space when the position of the container is adjusted by adopting manual eye observation and experience control in the prior art. The technical scheme adopted by the invention is as follows: in a first aspect, the present application provides a method for controlling the attitude of a four-rope sling, comprising the steps of: S1, establishing a space model, wherein the space model comprises a trolley model, a lifting appliance model and a rope model; S2, constructing a dynamics model, wherein the dynamics model comprises a rope dynamics model and a lifting tool dynamics model, the lifting tool dynamics model is a rigid body system with six degrees of freedom, and the lifting tool dynamics model uses Euler angles as parameters for describing the gesture; s3, acquiring control information in real time, wherein the control information comprises position information and attitude information of a lifting appliance, tension information of each rope and environmental information; And S4, substituting the control information obtained in the step S3 into a dynamic model, predicting the movement track of the lifting appliance in a future period, and controlling the lifting appliance to descend to finish box loading when the distance between a predicted point and a target box loading point in the predicted track is smaller than an accuracy threshold value. Preferably, in step S2, in the spreader dynamics model, the state variables include a spreader centroid positionAttitude angleCentroid linear velocityAngular velocity of postureAngular velocity vectorWherein the relationship of the angular velocity and the euler angle satisfies the following conversion relationship: wherein the matrix Is a nonlinear transformation matrix of Euler angular rotation speed. Preferably, in step S2, the rope model is a non-extensible model, wherein the geometrical constraints between each rope connection point are fulfilled: Wherein, the AndRespectively show the first place on the trolley and the lifting applianceThe spatial coordinates of the individual anchor points,,Is a fixed length of rope; the constraint of the equation is introduced into the Lagrangian system equation, and the generalized coordina