基于负载能量耦合的桥式起重机定位消摆控制  被引量:7

Positioning and Anti-swing Control for Bridge Crane Based on Payload Energy Coupling

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作  者:范波 张炜炜[1] 廖志明 FAN Bo;ZHANG Wei-wei;LIAO Zhi-ming(School of Information Engincering,Henan University of Science and Technology,Luoyang 471023,China;Henan Key Laboratory of Robot and Intelligent Systems,Henan University of Science and Technology,Luoyang 471023,China;Carey Lifting Equipment Co.Ltd.,Luoyang 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12期2077-2083,共7页Control Engineering of China

基  金:国家重点研发计划/重点专项项目(2017YFB0306403);国家自然科学基金项目(U1704157,61473115)。

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,提出了基于负载能量耦合的桥式起重机定位消摆控制方法。该方法以二维桥式起重机数学模型为基础,分析桥式起重机系统能量,构造基于负载位移与摆角的耦合函数,借助Lyapunov方法,获取控制律;并对该闭环系统在平衡点处的稳定性进行分析,兼顾桥式起重机的准确定位与消摆功能。通过仿真结果分析,该方法能够有效抑制负载摆动,实现台车准确定位;与传统系统能量的控制和负载广义调节控制相比,具有更佳的控制效果。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 payload energy coupling is proposed,which is based on the two-dimensional mathematical model.By the bridge crane energy analysis,the coupling function which is based on the payload displacement and the swing angle is constructed.And the control law is obtained by the Lyapunov method.To take into account the accurate positioning and anti-swing,the stability of the closed-loop system is analyzed at the equilibrium point.Through the simulation and analysis,the method can effectively suppress the payload swing and realize the trolley accurate positioning.It has better effect than the traditional energy control and payload generalized adjustment control.

关 键 词:桥式起重机 能量函数 LYAPUNOV方法 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]

 

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