双吊车偏重心起重机非线性耦合防摆控制  

Nonlinear Coupled Anti Swing Control of Dual-Crane Systems with Eccentric Gravity Center

作　　者：刘帅 石怀涛 佟圣皓 LIU Shuai;SHI Huai-tao;TONG Sheng-hao(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang 110168)

机构地区：[1]沈阳建筑大学机械工程学院,辽宁沈阳110168

出　　处：《制造业自动化》2025年第3期52-61,共10页Manufacturing Automation

基　　金：中央引导地方科技发展基金(2023JH6/100100040);沈阳市重点科技研究(20-202-4-40);2022年度沈阳市“揭榜挂帅”产业共性技术项目(22-316-1-17)。

摘　　要：现有的桥式起重机防摆控制方法大多是基于单吊车起重机模型设计,当负载过大需采用两台吊车协同运送时,两台吊车之间形成闭式运动链,耦合关系更加复杂,大尺寸负载重心的偏置会加大摆角控制的难度。针对双吊车偏重心桥式起重机系统存在的定位精度差和负载摆动大等问题,提出了一种非线性耦合防摆控制器。首先,针对双吊车桥式起重机吊运系统建立偏重心动力学模型,推导得出大尺寸负载摆角方程;然后,基于双吊车桥式起重机吊运系统特征结构进行分析,构造包含台车位移与双吊绳摆角的耦合信号,并基于能量法设计非线性耦合防摆控制器。仿真结果证明,该控制器能有效抑制和消除吊绳与负载摆角,控制性能优于传统控制方法且具有较强鲁棒性。Most of the existing anti swing control methods of overhead crane are based on the design of single crane models.When the load is too large and needs to be transported by two cranes together,a closed kinematic chain is formed between the two cranes,which makes the coupling relationship more complex.The offset of the center of gravity of a large load will increase the difficulty of swing angle control.A nonlinear coupling anti swing controller is proposed to solve the problems of positioning accuracy and eccentric large load swing in the overhead crane system with double cranes.First of all,the dynamic model of eccentric center of gravity is established for the lifting system of dual trolley bridge crane,and the equation of large size load swing angle is derived;Then,based on the characteristic structure of the lifting system of the dual trolley bridge crane,the coupling signal containing the trolley displacement and the swing angle of the two ropes is constructed,and the nonlinear coupling anti swing controller is designed based on the energy method.The simulation results show that the controller can effectively suppress and eliminate the swing angles of the lifting rope and the load,and its control performance is superior to traditional control methods and has strong robustness.

关 键 词：双吊车起重机 防摆控制 非线性控制 偏重心 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]