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基于GNSS的门式起重机姿态实时纠偏方法

A Method for Real-timely Rectifying Posture Deviation of Gantry Crane Based on GNSS
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摘要 随着我国现代工业的不断发展,大型门式起重机的应用也越来越多。在实际生产中,大型门式起重机常常会因为轨道严重磨损、操作不当等原因造成偏斜甚至倒塌,从而造成人员伤亡与巨大的经济损失。现有的检测方法采用编码器等传感器,通常有累计误差无法消除,行走机构静止时偏斜无法检测等缺陷。针对这一问题,采用GNSS导航定位技术,通过相对定位算法与坐标转换,实时解算出起重机械的三维姿态信息。沪东中华造船厂实际运行数据表明,基于GNSS导航技术的纠偏方法平均误差小于原有编码器纠偏方法,并且能够有效地在门式起重机行走机构停止时检测出主梁偏斜与俯仰角。 With the continuous development of the modem industries in our country, the large gantry cranes have also been used increasingly. In the practical production, the posture deflection, or even collapse of the large gantry crane may be often caused due to the reasons of serious rail abrasion, misoperation and so on, thus it may give rise to the workers casualties and tremendous economic losses. Usually, there are a lot of defects with the existing detection methods in adoption of sensors like encoders, such as the cumulative error which would be unable to eliminate, the posture deflection which might be unable to detect while the travelling mechanism of the crane is motionless, etc. In allusion to this problem, the navigation and positioning technology (by GNSS, Global Navigation Satellite System) is adopted to realtimely calculate the three-dimensional posture information of the hoisting machinery by means of the relative positioning algorithm and coordinates conversion. The actual operating data of Hudong Zhonghua Shipyard indicate that the GNSS navigation technology based deviation correcting method has a less average error than the original deviation correcting method by encoders, and it can effectively measure the main beam deflection and angle of pitch when the crane travelling mechanism stops.
出处 《自动化信息》 2014年第8期27-30,共4页 Automation Information
关键词 全球导航卫星系统 门式起重机 相对定位 实时纠偏 GNSS (Global Navigation Satellite System) Gantry crane Relative positioning Real-timely deviation rectifying
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