To realize automation operation of crane and effectively improve crane's loading and unloading efficiency, it's necessary to take good measures to control swing of lifting loads during crane operation. The paper proposes a swing control method based on crane operation acceleration control, with the swing control system established as well. The 3D model for crane handling system is established at first; then an effective swing control method is put forward in the paper based on the 3 D equation of motion and considering actual operating experience. Furthermore, the paper analyzes the characteristic parameters of the swing control system, presents detailed calculation methods of the swing control parameters, and conducts 3D simulation and tests which prove effectiveness of the mentioned method.%为了实现起重机的自动化控制作业,同时有效提升起重机装卸作业效率,必须采用有效手段对起重机作业过程中的起吊物摆动进行控制.文中提出了基于起重机运行加速度控制的摆动控制方法,并构建了起重机摆动控制系统.首先建立了起重机搬运系统的三维模型,基于三维运动方程并结合实际的操作经验提出了一种有效的摆动控制方法.分析了摆动控制系统的特征参数,给出了摆动控制参数的具体计算方法,并进行了三维仿真与试验,仿真及试验结果验证了提出方法的有效性.
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