双履带起重机自动协调吊装人机系统设计与实现

Design and Realization of Dual Cooperative Crane Lifts

双履带起重机协调吊装在超大型重物及特殊物品吊装中越来越重要。双机协调吊装是一个复杂的过程,需要两台起重机之间的精密配合。设计了一种基于CAN总线通信的协调吊装辅助系统,可以实时监测并显示吊物姿态信息和两台起重机的当前运动信息,并根据吊物姿态信息逆向求解得出两台起重机的期望动作量,为精密协调吊装提供操作指导,并为进一步实现双机协调吊装自动控制打下基础。

Dual-cranes cooperative lifting is more and more important for heavy load. The cooperative lifting for cranes is a complex task, which needs several operators. An cooperative control system is designed based on CAN bus communication using which the angle of the lifted object, the real values of every joint variables of each crane can be shared with each other in real time. The system can calculate the expected values of each joint variables and show them to operators, which provide operational guidance for precise coordination of lifting.