基于多运行状态参数切换的冶金无人天车防摇速度控制  

Metallurgical unmanned overhead crane anti-swing speed control based on multi-run state parameter switching

作　　者：梁越永 晏志维 杨耕[1] 周道付 LIANG Yueyong;YAN Zhiwei;YANG Geng;ZHOU Daofu(Department of Automation,Tsinghua University,Beijing 100084,China;Shanghai Baosight Software Co.,Ltd.,Shanghai 201203,China;Department of Automation,Baosight Software(Anhui)Co.,Ltd.,Ma'anshan 243000,China)

机构地区：[1]清华大学自动化系,北京100084 [2]上海宝信软件股份有限公司,上海201203 [3]宝信软件(安徽)股份有限公司自动化事业部,安徽马鞍山243000

出　　处：《冶金自动化》2025年第1期1-10,共10页Metallurgical Industry Automation

摘　　要：无人天车控制需要解决运行速度与防摇摆之间的矛盾,从而在保障安全运行下提升天车运行效率。本文提出了一种基于多运行状态下人工经验进行控制器参数切换的冶金无人天车防摇全程速度控制方法。该方法首先规划防摇摆前提下的大小车联动天车全程速度控制,然后根据不同运行状态下的人工天车操作经验切换控制器PID参数以优化天车防摇摆控制,总体形成对无人天车的前馈-反馈混合控制。仿真实验表明,相比人工操作常用的大小车联动控制,该控制方法整体运行时间大幅度缩短24.9%;现场实验显示,最大摇摆角度控制在0.45°~0.85°以内,定位精度控制在10 mm以内,相关指标在国内同类场景下处于领先地位。目前该方法在国内某钢厂已实现工程应用与成果验证。In automation control for metallurgical unmanned overhead cranes,a critical challenge lies in balancing operational speed and anti-swing measures to enhance crane efficiency while ensuring safe operation.A metallurgical unmanned crane anti-swing full-range speed control method was pro-posed based on controller parameter switching derived from human expertise under multi-run states in this article.The method first plans the full-range speed control for the overhead crane linked by a large and small vehicle under anti-swing conditions.Then anti-swing control is optimized by switching PID parameters based on human crane operation experience under different running states,forming an integrated feedforward-feedback hybrid control for the unmanned overhead crane.Simulation experi-ments demonstrate that,compared to the commonly used manual operation of large and small vehicle linkage control,this method reduces overall operation time by 24.9%.Field experiments show that the maximum swing angle is controlled within the range of 0.45°-0.85°,and positioning accuracy is maintained within 10 mm.The relevant indicators are in a leading position in similar domestic scenar-ios.This method has been successfully applied and validated in the steel industry in China.

关 键 词：冶金智能化 无人天车 防摇摆 多运行状态 PID控制 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]