基于S型曲线轨道的旋转起重机残留摆角抑制

发布时间：2018-07-07 19:23

本文选题：旋转起重机 + 运动控制　；参考：《振动与冲击》2014年23期

【摘要】：旋转起重机被广泛地用于各种场合来运输沉重物体或有害材料,例如建筑工地,工厂,核设施以及港湾等。由于旋臂的旋转运动会使荷载产生一个二维摆角,因此针对此问题提出一种轨道生成的方式来同时实现旋臂的位置控制和荷载的残留消摆控制。首先,导出一个包含离心力项的起重机部分线性模型。其次,基于该模型通过数值计算生成预先考虑了残留摆角的S型曲线轨道。其中各个参数只需通过求解代数方程即可得到,降低了控制器设计的难度。同时该轨道可以应用于常用的工业控制器中从而降低了系统构建成本。最后,比较仿真和实验结果验证所提方法的有效性。通过使用此法可以实现在无测量摆角的传感器系统情况下准确地操作起重机,从而大大地简化其结构和降低其安装成本。
[Abstract]:Rotary cranes are widely used to transport heavy objects or hazardous materials such as construction sites, factories, nuclear facilities and harbors. Because the rotating motion of the rotating arm can make the load produce a 2-D pendulum angle, a method of track generation is proposed to realize the position control of the rotating arm and the residual swing control of the load at the same time. Firstly, a partial linear model of crane with centrifugal force term is derived. Secondly, based on the model, the S-shape curve orbit with the residual pendulum angle is generated by numerical calculation. Each parameter can be obtained only by solving the algebraic equation, which reduces the difficulty of controller design. At the same time, the track can be applied to the commonly used industrial controller, thus reducing the cost of system construction. Finally, the effectiveness of the proposed method is verified by comparing the simulation and experimental results. By using this method, the crane can be operated accurately without measuring swing angle sensor system, which greatly simplifies its structure and reduces its installation cost.
【作者单位】：南京工业大学自动化与电气工程学院;
【基金】：国家自然科学基金(51277092) 江苏省基础研究计划(自然科学基金)资助项目(BK20130938) 江苏省高校自然科学研究项目资助(14KJB510013)
【分类号】：TH213

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