基于微分平坦理论的桥式起重机轨迹规划  

Trajectory Planning for Overhead Cranes Based on Differential Flatness Theory

作　　者：侯建国 陈志梅[1] HOU Jian-guo;CHEN Zhi-mei(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,山西太原030024

出　　处：《控制工程》2020年第4期624-628,共5页Control Engineering of China

基　　金：山西省研究生教育改革研究项目(2019JG173)。

摘　　要：针对桥式起重机工作过程中小车的精确定位和负载摆动抑制的问题,文章提出了一种新颖的轨迹规划方法。具体而言,基于微分平坦技术,首先定义了系统的平坦输出,以处理有效载荷摆动和小车运动之间的耦合关系,其次,考虑到连续性和平滑性的要求,将平坦输出信号参数化为多项式曲线。这时各种约束条件均可以转化为对平坦输出的约束,问题得以简化。随后,利用粒子群优化算法求得最佳参数,以实现期望的轨迹。仿真结果表明,本文提出的针对桥式起重机的轨迹规划方法取得了满意的控制性能。In this paper,a novel trajectory planning method is proposed to solve the problem of the precise positioning of the trolley and the suppression of the load swing during the working process of the overhead crane.Specifically,based on the differential flatness technique,a flat output of the system is firstly defined to deal with the coupling between the payload swing and trolley motion,secondly,the output signal of flatness is parameterised to be a polynomial curve when considering the continuity and smoothness requirements.So various constraints can be converted to constraints on flat output and the problem is simplified.Then,particle swarm optimization algorithm is used to obtain the best parameter to achieve the desired trajectory.The simulation results show that the proposed trajectory planning approach for the overhead cranes achieves satisfactory control performance.

关 键 词：桥式吊车 轨迹规划 微分平坦 摆动抑制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]