基于变绳长双摆模型的抓斗门座起重机吊重摆动控制研究  

Research on swing control of grab bucket gantry crane based on variable rope length double swing model

作　　者：李威涛 郭建生[1] Li Weitao;Guo Jiansheng

机构地区：[1]武汉理工大学物流工程学院,武汉430063

出　　处：《起重运输机械》2021年第18期24-28,共5页Hoisting and Conveying Machinery

摘　　要：文中以抓斗门座起重机吊重摆动系统为研究对象,建立吊重变绳长双摆动力学模型,计算了系统的多阶固有频率及阻尼比,设计了回转与起升复合运动工况下基于双模态模型的改进ZV输入整形器,综合比较了未整形、基于单模态模型的改进ZV输入整形和基于双模态模型的改进ZV输入整形3种模型的钢丝绳及抓斗摆角。仿真结果表明:基于双模态模型的改进ZV输入整形器能很好地抑制钢丝绳及抓斗最大残余摆角。In this paper,the swing system of the grab bucket gantry crane is taken as the research object,and the variable rope length double-swing dynamic model of cranes was established.The multi-order natural frequencies and damping ratio of the system were calculated,and an improved ZV input shaper based on double-mode model was designed.Swing angles of steel wire ropes and grab buckets of three models,which were unshaped,improved ZV input shaping based on single-mode model and improved ZV input shaping based on double-mode model,were compared comprehensively.Simulation results show that the improved ZV input shaper based on double-modal model can better restrain the residual swing angle of steel wire ropes and grab buckets.

关 键 词：抓斗门座起重机 变绳长 双模态改进ZV方法 双摆控制 

分 类 号：TH213.4[机械工程—机械制造及自动化]