A MECHANICAL ANTI SWAY CONTROL METHOD WHICH CONTROL TWO COUNTERPART MOTOR DIFFERENT SPEED AS ZERO BY PI CONTROLLER ON CRANE

摘要

The present application relates to a method, device and system for controlling a crane, and a storage medium. The method comprises: acquiring a first speed value of a first motor, the first motor being configured to pull a first end of the hoist of a crane; acquiring a second speed value of a second motor, the second motor being configured to pull a second end of the hoist of the crane, the second end being the opposite end of the first end in a trolley traveling direction of the crane; acquiring a first speed difference between the first speed value and the second speed value; acquiring a first speed difference threshold; and, if the first speed difference between the first speed value and the second speed value is smaller than the first speed difference threshold, sending a control instruction to the first motor to increase a torque output value of the first motor in the trolley traveling direction. A technical solution provided by the present application effectively prevents the hoist of a crane from swaying.