液压起重机轨迹跟踪控制方法的研究  

Research on trajectory tracking control method of hydraulic crane

作　　者：范学慧[1] 刘明明 FAN Xuehui;LIU Mingming(School of Intelligent Manufacturing,Jiangsu Vocational Institute of Architectural Technology,Xuzhou 221000,Jiangsu,China;School of Mechanical Engineering,Jiangsu University,Zhenjiang 212013,Jiangsu,China)

机构地区：[1]江苏建筑职业技术学院智能制造学院,江苏徐州221000 [2]江苏大学机械工程学院,江苏镇江212013

出　　处：《中国工程机械学报》2021年第2期148-152,共5页Chinese Journal of Construction Machinery

基　　金：江苏省自然科学基金资助项目(BK20180174)。

摘　　要：液压起重机对目标轨迹跟踪的正确性,有助于提高其工作效率和工作质量。为了提高液压起重机对目标轨迹的跟踪正确度,以及跟踪过程的平稳性,设计了一种液压起重机轨迹跟踪控制方法。首先,通过对液压起重机进行分析,求取了其旋转关节以及执行机构的运动学模型;然后,利用一个低频正弦波,构造了死区补偿装置模型,克服了由控制阀引起的固有死区问题;最后,在液压起重机频率响应函数的基础上,求取了前馈信号的反向稳态增益。采用本文方法对矩形目标轨迹、圆形目标轨迹以及三角形目标轨迹进行跟踪,以验证其跟踪性能。通过实验结果显示,与神经网络方法相比,本文方法在对矩形目标轨迹、圆形目标轨迹以及三角形目标轨迹进行跟踪时,最大偏差度分别减小了5.48%、19.76%和17.37%。由此说明,本文方法能够控制液压起重机对目标轨迹进行准确的跟踪,有助于提高液压起重机的工作可靠度。The correctness of target trajectory tracking of hydraulic crane is helpful to improve its working efficiency and quality.In order to improve the tracking accuracy of the target trajectory of hydraulic crane and the stability of the tracking process,a trajectory tracking control method of hydraulic crane is designed in this paper.Firstly,through the analysis of hydraulic crane,the kinematics model of its rotating joint and actuator is obtained.Then,using a low-frequency sine wave,a dead-time compensation device model is constructed to overcome the inherent dead-time problem caused by the control valve.Finally,based on the frequency response function of hydraulic crane,the steady-state gain of feed-forward signal is obtained.This method is used to track rectangular,circular and triangular target trajectories to verify their tracking performance.The experimental results show that the maximum deviation of the proposed method is reduced by 5.48%,19.76%and 17.37%respectively when compared with the neural network method in tracking the trajectories of rectangular,circular and triangular targets.Therefore,this method can control the hydraulic crane to track the target trajectory accurately,and help to improve the working reliability of the hydraulic crane.

关 键 词：液压起重机 运动学模型 死区补偿装置 频率响应 稳态增益 

分 类 号：U463[机械工程—车辆工程]