基于在线轨迹规划的桥式起重机定位消摆控制  

Positioning and Anti-swing Control for Bridge Crane Based on Online Trajectory Planning

作　　者：范波 张炜炜[1] 廖志明 FAN Bo;ZHANG Wei-wei;LIAO Zhi-ming(School of Information Engineering,Henan University of Science and Technology,Luoyang Henan 471023,China;Henan Key Laboratory of Robot and Intelligent Systems,Henan University of Science and Technology,Luoyang Henan 471023,China;Carey Lifting Equipment Co.,Ltd.,Luoyang Henan 471023,China)

机构地区：[1]河南科技大学信息工程学院,河南洛阳471023 [2]河南科技大学河南省机器人与智能系统重点实验室,河南洛阳471023 [3]洛阳卡瑞起重设备有限公司,河南洛阳471023

出　　处：《控制工程》2020年第9期1538-1544,共7页Control Engineering of China

基　　金：国家自然科学基金(U1704157);国家重点研发计划/重点专项项目(2017YFB0306403)。

摘　　要：针对桥式起重机运输过程中,台车牵引吊绳引起负载惯性摆动的问题,提出了基于在线轨迹规划的桥式起重机定位消摆控制方法。该方法以平滑的定位轨迹为基础,利用台车运动与负载摆动间的动态耦合关系,引入不影响定位的消摆环节,构建定位消摆轨迹,无须离线迭代优化,实现桥式起重机在线规划轨迹,兼顾台车的准确定位与负载消摆的要求。通过仿真对比分析,该方法能够有效的抑制负载摆角,实现台车的准确定位,降低参数整定频率与难度,提高响应速度。For the bridge crane transportation,the payload inertia swing is caused by the trolley change,positioning and anti-swing control of the bridge crane on the basis of online trajectory planning is proposed,which is based on the smooth positioning trajectory.The dynamic coupling relationship of the trolley motion and the payload swing is utilized.The anti-swing without influencing positioning is introduced.Then the positioning and anti-swing trajectory is constructed without off-line iterative optimization so that online planning trajectory as well as the requirements of the accurate positioning and anti-swing can be realized.Through simulation and analysis,the method can suppress the payload swing angle effectively,realize the accurate positioning,reduce the frequency and difficulty of setting parameters,and improve the response speed.

关 键 词：桥式起重机 在线轨迹规划 定位消摆 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]