双桅杆式起重机的时变输入整形控制方法  

Time-varying input shaping control for dual boom cranes

作　　者：邱泽昊 孙宁 刘卓清 杨桐 吴庆祥 方勇纯 QIU Ze-hao;SUN Ning;LIU Zhuo-qing;YANG Tong;WU Qing-xiang;FANG Yong-chun(Institute of Robotics and Automatic Information Systems(IRAIS),College of Artificial Intelligence,Tianjin Key Laboratory of Intelligent Robotics(tjKLIR),Nankai University,Tianjin 300350,China)

机构地区：[1]南开大学人工智能学院机器人与信息自动化研究所,天津市智能机器人技术重点实验室,天津300350

出　　处：《控制理论与应用》2023年第8期1509-1518,共10页Control Theory & Applications

基　　金：国家自然科学基金项目(U20A20198,61873134);国家重点研发计划项目(2018YFB1309000);天津市自然科学基金项目(20JCYBJC01360)资助。

摘　　要：为了满足实际生产需求,在工业中常使用两台或者多台起重机协作完成大型运输任务.双桅杆式起重机负载能力强,工作姿态灵活,在大型建筑工地上得到了广泛应用.然而,现有控制方法大多针对动力学特性相对简单的双桥式起重机,而对耦合性更强、动力学特性更复杂的双桅杆式起重机关注不足.为解决此类系统的控制难题,本文通过分析系统的几何约束与动力学模型,得到状态变量及其高阶导数之间的关系,从而实现双桅杆式起重机非线性动力学模型的合理变换.随后,本文准确分析了吊臂俯仰角与负载姿态角之间的关系,通过计算得到双桅杆式起重机的时变振荡周期,设计了一种极不灵敏型输入整形器.最后,实验结果验证了所提时变输入整形控制方法能够实现起重机的准确定位及良好的消摆效果.In order to meet real-world production demands,two or more cranes are used to cooperate to complete largescale transportation tasks.Due to the advantages of strong load capacity and flexible working posture,dual boom cranes(DBCs)are widely used in large construction sites.However,the existing control methods mostly focus on dual overhead cranes with simpler dynamic characteristics,but much less attention has been paid to DBCs with stronger coupling and more complicated dynamics.To solve the control issues of such systems,by analyzing the geometric constraints and dynamic model,relationships among the state variables and their higher-order derivatives can be obtained,so that the nonlinear dynamic model of DBCs can be reasonably transformed.Moreover,the dynamic relationship between boom pitch angles and payload attitude is analyzed accurately.The time-varying oscillation period of DBCs is obtained by mathematical derivation,and an extra-insensitive(EI)input shaper is designed.Finally,experimental results verify that the proposed control method can realize accurate positioning and satisfactory anti-swing effect.

关 键 词：起重机 非线性欠驱动系统 输入整形控制 消摆控制 前馈控制 

分 类 号：TH213.2[机械工程—机械制造及自动化]