吊重摆长对起重机PID防摇控制的影响  

Simulation Analysis and Test Verification of PID Anti Sway Factors

作　　者：庞振华 刘放[1] 吴涛 唐语 PANG Zhen-hua;LIU Fang;WU Tao;TANG Yu(School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China)

机构地区：[1]西南交通大学机械工程学院,成都610031

出　　处：《科学技术与工程》2021年第14期5828-5832,共5页Science Technology and Engineering

基　　金：四川省科技计划(2016HH0032)。

摘　　要：起重机的摆动会极大地影响工作效率,降低运行时的安全性。吊重摆动问题仍然是当前需要解决的问题,其中摆长的不断变化是防摇的难题。通过MATLAB及试验研究吊重摆长对起重机PID防摇的影响,首先建立起重机吊重摆动的数学模型,并设计PID控制算法;采用MATLAB进行动力学仿真分析,得出起重机自由停摆及防摇停摆时的仿真结果,分析不同吊重摆长对系统防摇结果的影响;最后通过试验进行验证。仿真分析及试验结果表明,防摇控制器对起重机停摆有较大影响;起重机吊重摆长越长,系统达到稳定状态的时间越长,但是最大摆角会减小。The swing of the crane will greatly affect the work efficiency and reduce the safety during operation.Hanging weight swing is still a problem that needs to be solved at present,and the change of pendulum length is a difficult problem of anti-sway.MATLAB and experiments was used to study the influence of the crane's swing length on the PID anti-sway of the crane.Firstly,a mathematical model of crane lifting swing was established,and PID control algorithm was designed.MATLAB was used for dynamic simulation analysis,and the simulation results of crane free parking and anti-sway parking were obtained,and the influence of different hoisting pendulum lengths on the system anti-sway results was analyzed,and verified by experiments.The simulation analysis and test results show that the anti sway controller has a great influence on the crane stop.The longer the crane load swing is,the longer the system reaches the stable state,but the maximum swing angle will be reduced.

关 键 词：起重机防摇 拉格朗日方程 状态方程 吊重摆长 PID控制算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]