基于高斯伪谱法的双摆桥式起重机消摆策略分析  

Analysis on Anti-swing of Double Pendulum Bridge Crane Based on the Gauss Pseudo-spectral Method

作　　者：刘岩松 王宗彦 石瑞敏 李松 LIU Yan-song;WANG Zong-yan;SHI Rui-min;LI Song(School of Mechanical Engineering,North University of China,Technical Research Center for Digital Design of Cranes,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院山西省起重机数字化设计工程技术研究中心

出　　处：《科学技术与工程》2020年第1期189-195,共7页Science Technology and Engineering

摘　　要：为了解决桥式起重机钢丝绳和负载的双摆问题,提出采用高斯伪谱法实现消摆。深入分析了影响吊具与负载摆动的控制因素,通过系统运动状态运用拉格朗日方程建立了双摆桥起动力学模型和最优控制模型,依靠相同运动曲线的输入验证了模型的有效性;将原最优控制问题转换为高斯伪谱形式,采用高斯伪谱法直接对建立的模型进行分析并在有限时间内获得最优解。仿真实验结果表明:采用高斯伪谱法能够有效实现消摆,控制结果与其他控制方法作比较,进一步证明了高斯伪谱法的优越性及有效性。To solve the problem of swing in wire rope and load of double pendulum bridge crane,a Gauss pseudo-spectral method to reduce the problem was proposed,and the factors affecting the swing of suspension and load were analyzed.By applying the Lagrange equation,a dynamic model and optimal control model of double pendulum bridge was established by calculating the system motion state.In addition,the validity of the models was verified by inputting the same motion curve,and the original optimal control problem was transformed into the form of Gauss pseudo-spectrum.At last,the model was analyzed directly by the Gauss pseudo-spectral method and obtained the optimal solution in a finite time.The simulation results show that the Gauss pseudo-spectral method can offer an effective anti-swing solution,and is superior to other control methods.

关 键 词：起重机 高斯伪谱法 消摆 仿真 

分 类 号：TH215[机械工程—机械制造及自动化] TP391[自动化与计算机技术—计算机应用技术]