桥式起重机防摆控制仿真研究  

Simulation research on anti-swing control of bridge crane

作　　者：张力伟 潘澜澜 吴刚 李智军 ZHANG Liwei;PAN Lanlan;WU Gang;LI Zhijun(College of Mechanical and Power Engineering,Dalian Ocean University,Dalian 116023,Liaoning,China;Dalian Huarui Heavy Industry Crane Co.,Ltd.,Dalian 116000,Liaoning,China)

机构地区：[1]大连海洋大学机械与动力工程学院,辽宁大连116023 [2]大连华锐重工起重机有限公司,辽宁大连116000

出　　处：《中国工程机械学报》2024年第5期609-613,619,共6页Chinese Journal of Construction Machinery

基　　金：辽宁省科技攻关重点专项基金资助项目(2022JH1/10800053)。

摘　　要：为研究桥式起重机的防摆和定位方法,本文基于小车吊重系统动力学方程,运用Matlab软件对起重机在力控制和加速度控制这2种控制策略下的加速、匀速和减速阶段的运动特性进行了仿真分析。仿真结果表明:采用加速度控制,吊重做单摆运动,而采用力控制时小车受到吊重摆动的影响,小车和吊重做复摆运动。0初始摆动下,无论采用力控制还是加速度控制,加减速时间等于吊重摆动周期的整数倍时,摆角和角速度同时为0,以此确定加速时间和减速时间可以保证小车匀速阶段和小车停止后摆动最小。无扰动情况下,采用力控制和加速度控制均能较好地消除吊重摆动;而在有扰动情况下,采用力控制可能增加系统的控制难度,而采用加速度控制则相对简单,可以较好地消除扰动和摇摆。To study the anti-swing and positioning method of bridge crane,Matlab is used to analyze the motion characteristics of crane in acceleration,constant speed and deceleration under the two strategies of force control and acceleration control on the basis of dynamics equations of crane system.The simulation results show that when acceleration control is adopted,the hoisted weight moves in a single pendulum motion,while when force control is adopted,the trolley and hoisted weight move in a complex pendulum motion.Under the condition of 0 initial swing,no matter the force control or acceleration control is adopted,when the acceleration and deceleration time is equal to the swing period of the hoisted weight,the angle and the angular velocity are 0 at the same time,and the acceleration time and deceleration time are determined by the swing period to ensure the minimum swing of the trolley in the constant speed stage and after the trolley stops.In the case of no disturbance,both force control and acceleration control can eliminate the swing of the lifting load well,while in the case of disturbance,force control may make the anti-swing control difficult,while acceleration control is relatively simple and can eliminate the external disturbance well.

关 键 词：桥式起重机 防摆 力控制 加速度控制 扰动 

分 类 号：TH391.9[机械工程—机械制造及自动化]