果园钢索牵引货运系统负载纵向稳定性控制  

Longitudinal stability control of orchard cable-driven hanging transport system

作　　者：杨洲[1,2] 李伟[1,2] 李君[1,2] 李雪平[1,2] 薛坤鹏[1,2] 

机构地区：[1]华南农业大学工程学院,广州510642 [2]华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州510642

出　　处：《农业工程学报》2015年第1期64-70,共7页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金项目(51205139);广东省高等学校高层次人才项目(粤财教[2011]431号);国家科技支撑计划课题(2011BAD20B10-2)

摘　　要：为有效抑制果园钢索牵引悬挂式货运系统吊重的纵向偏摆,该文采用根轨迹校正法设计了系统纵向运行稳定性控制器。在忽略侧向运动影响的前提下,利用拉格朗日方程建立了线性化的纵向动力学模型。通过在左半复平面添加2个零点,对系统的根轨迹进行了校正。仿真和试验结果表明:所提出的只考虑吊重在纵向平面内运动的数学模型能够表述原系统运动特性,设计的控制器可快速衰减纵向偏摆,抑制吊重纵向摆动角度在±1.5°以内,将摆角角速度幅度极值减小至10%。该研究为悬挂货运系统的纵向稳定性控制提供了参考依据。A cable-driven hanging transport system has the characteristics of labor saving, economic efficiency and good revenue, along with good prospect for increasing orchard utilization. Compared with the wheeled carrier and crawler, it can meet the demand of the complex mountainous topography. Both during and after transfer, the load motion of the hanging system can cause load swings, which is undesirable especially in the variations of acceleration. The longitudinal oscillations may lead to the instability of system and damage of agricultural goods. The aim of this paper is to develop an effective control method for the load motion that produces short travel time with suppressed load swing and satisfies operational constraints. Due to the nonlinearities of spatial three-dimensional motion of transferred load, the dynamics of the cable-driven hanging transport system showed complexity with coupled motion of load. In fact, the lateral movement had little effect on the longitudinal stability due to the low transport speed of cable and lager curvature radius of rails, which could be ignored in the development of plant equations. In order to effectively suppress the longitudinal load swings, the Lagrange equations were utilized and a mathematical model of the transport system was proposed. The transport system with multiple load masses in series can be considered as similar to the hoist system with a single concentrated load. The reason is that the distances between each hook point and mass center of load are at roughly the same value. As a result, the dynamic model of the transport system can be simplified to a linearized model by ignoring the effect of lateral movement and assuming the multiple load masses in series to be a single load mass. The state-space form of longitudinal equations of load motion was developed and its controllability and observability was analyzed. The system transfer function was obtained. From the performance specifications, a compensated controller with root locus correction was proposed by resh

关 键 词：农业机械 运输 模型 悬挂货运系统 根轨迹校正法 稳定性控制 山地果园 

分 类 号：S229.1[农业科学—农业机械化工程] TD527[农业科学—农业工程]