基于摆角约束的双摆吊车轨迹规划  

Trajectory Planning Method Based on Swing Angle Constraint for Double Pendulum Crane

作　　者：张天成 邵雪卷[1] 张井岗[1] ZHANG Tiancheng;SHAO Xuejuan;ZHANG Jinggang(School of Electronics Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学电子信息工程学院

出　　处：《自动化仪表》2019年第9期40-45,共6页Process Automation Instrumentation

基　　金：山西省研究生教育创新基金资助项目(2016BY133);山西省青年科技研究基金资助项目(201701D221108)

摘　　要：桥式吊车作为一种典型的欠驱动系统,已经在现代工业生产运输过程中得到了广泛的应用。但当吊车系统中的负载体积过大或吊钩质量较大时,桥式吊车系统会呈现双摆特性,增加控制难度。针对这一问题,提出了一种基于摆角约束的双摆桥式吊车轨迹规划策略,以更方便地考虑摆角约束。首先,设计能够满足摆角约束的摆角运动曲线,并由台车运动与两级摆角之间的耦合关系得出台车加速度轨迹;然后,构造关于时间和最大摆角的目标函数;最后,将轨迹规划问题转化成一个可利用粒子群算法来求解的优化问题。MATLAB仿真对比结果表明,该方法在实现台车快速精准定位的同时,能有效抑制两级摆动及残余摆动,在系统参数改变时仍具有较好的鲁棒性,可尝试应用于实际工作中。As a typical underactuated system,overhead cranes have been widely applied in modern industrial production to accomplish transportations tasks.However,when the payload volume in the crane system is too large or the hook mass is large,bridge crane system may exhibit double pendulum characteristics,which increase the difficulty of control.Aiming at this problem,a trajectory planning strategy for double pendulum bridge crane based on swing angle constraint is proposed.Firstly,the swing angle motion curve that satisfies the swing angle constraint is designed,and the acceleration trajectoryof the vehicle can be obtained by the coupling relationship between the motion of the trolley and the two-stage pendulum angle.Then the objective function about time and maximum pendulum angle is constructed,and finally the trajectory planning problem is transformed into an optimization problem which can be solved by using particle swarm optimization algorithm.The MATLAB simulation results show that the system can be positioned accurately and quickly and can effectively suppress the two-stage swing and residual swing.It is still robust when the system parameters are changed and can be applied to practical work.

关 键 词：桥式吊车 双摆系统 欠驱动系统 两级摆动 轨迹规划 摆角约束 目标函数 粒子群优化 

分 类 号：TH215[机械工程—机械制造及自动化]