基于起升高度的最优输入整形器抑制桥式起重机载荷摆动  

Input shaper using optimization for controlling load swing of overhead traveling based on lift height

作　　者：脱建智[1] 董明晓[1] 任意翔[2] 徐书娟[1] 

机构地区：[1]山东建筑大学机电工程学院 [2]济南锅炉集团有限公司

出　　处：《起重运输机械》2009年第4期86-88,共3页Hoisting and Conveying Machinery

基　　金：山东省自然基金资助项目(Y2007F84)

摘　　要：桥式起重机具有挠性机械环节—起升钢丝绳,其加、减速运动引起载荷摆动。为了消除这种摆动,根据桥式起重机起升高度的分布规律,基于载荷摆动幅值最小及优化时滞的思想设计最优输入整形器。仿真结果表明,在最优输入整形器的控制下,80/20t桥式起重机载荷最大摆动角度为0.036rad,与无输入整形器控制情况相比,载荷的最大摆角降低了95%。Acceleration and deceleration movement of lifting rope can cause load swing due to rope＇s flexibility of overhead traveling crane. The paper designs input shaper using optimization to minimize load amplitude and optimize the delay, according to lifting height distribution. The simulating result shows that the maximum load swing angle of 80/20 t overhead traveling crane with input shaper is 0. 036 rad, the angle reduces by 95% in comparison to the crane without input shaper.

关 键 词：桥式起重机 摆动 输入整形 优化 

分 类 号：TH215[机械工程—机械制造及自动化] TH213