起重机悬挂负载系统位置控制实验研究  

Experimental study on position control of crane suspension load system

作　　者：陈可 周惠兴 单晓微[1] 张中岳 王曦 CHEN Ke;ZHOU Hui-xing;SHAN Xiao-wei;ZHANG Zhong-yue;WANG Xi(School of Mechanical-Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Beijing Engineering Research Center of Monitoring for Construction Safety,Beijing University of Civil Engineering and Architecture,Beijing 100044,China)

机构地区：[1]北京建筑大学机电与车辆工程学院,北京100044 [2]北京建筑大学北京市建筑安全监测工程技术研究中心,北京100044

出　　处：《机电工程》2023年第3期452-460,共9页Journal of Mechanical & Electrical Engineering

基　　金：国家住房和城乡建设部研究开发项目(2020-K-150);北京市建筑安全监测工程技术研究中心研究基金资助项目(H21175);北京建筑大学硕士研究生创新资助项目(PG2022128)。

摘　　要：在起重机工作时,负载围绕吊装线旋转,存在定位困难的问题,为此,以动量轮为执行机构,提出了一种基于角动量守恒定律的悬挂负载系统姿态控制方法。首先,对悬挂负载系统的机理与结构进行了研究,用欧拉角描述法推导出了系统的运动学方程,并基于角动量守恒定律对系统进行了动力学建模;然后,对系统的稳定性进行了研究,采用比例积分与比例微分(PI+PD)混合控制律,实现了对俯仰方向旋转位置的控制目的;并设计了比例微分(PD)控制律,抑制了外部干扰对俯仰方向旋转产生的摇晃;基于MATLAB的Simulink环境对系统进行了风力扰动下的仿真实验;最后,搭建了样机实验平台,进行了实际过程测试,结合测试结果对仿真结果进行了验证。研究结果表明:所设计控制律有效,位置控制角度误差达到10-2量级;解决了负载旋转定位困难的问题,抑制了外部干扰对俯仰方向旋转所产生的摇晃。Aiming at the difficulty of rotating and positioning the load around the hoisting line when the crane was working,an attitude control method of the suspended load system was proposed based on the law of conservation of angular momentum with the momentum wheel as the actuator.Firstly,the mechanism and structure of the suspended load system were studied,the kinematic equations of the system were deduced by the Euler angle description method,and the dynamic modeling of the system was carried out based on the law of conversation of angular momentum.Then,the stability of the system was studied,and the proportional-integral and proportional-derivative(PI+PD)mixed control law was used to complete the pitch direction rotation position control,and the proportional-derivation(PD)control law was designed to suppress the shaking caused by external disturbances to the pitch direction rotation.The simulation experiment of the system under wind disturbance was carried out based on the Simulink environment of MATLAB.Finally,a prototype experimental platform was built,the actual process test was carried out,and the simulation results were verified by combining the test results.The research results indicate that the designed control law is effective,the position control angle error reaches the order of 10-2.The problem of difficult load rotation positioning is solved,and the sway of pitch direction rotation caused by external interference is restrained.

关 键 词：自行式起重机 动量轮 角动量守恒 比例积分与比例微分混合控制律 姿态控制方法 

分 类 号：TH213[机械工程—机械制造及自动化] TP23[自动化与计算机技术—检测技术与自动化装置]