基于防摆控制的汽车起重机作业安全技术研究  

Research on operation safety technology of truck crane based on anti-swing control

作　　者：刘学 Liu Xue

机构地区：[1]宝马格(常州)工程机械有限公司,常州710064

出　　处：《起重运输机械》2025年第6期68-76,共9页Hoisting and Conveying Machinery

摘　　要：汽车起重机是一种应用广泛的工程装备,其作业安全问题非常重要。汽车起重机作业安全包括很多方面,其中吊重的摆动是重要的影响因素,减少吊重的摆动能大大提高作业安全性。文中首先利用拉格朗日方程建立汽车起重机工作装置的非线性动力学模型,并采用Matlab/Simulink对模型进行合理性验证。然后基于部分反馈线性化方法,设计防摆控制算法,得到了回转和变幅驱动力矩。最后采用Simulink进行仿真研究。仿真结果表明,由初始位置运动到目标位置时,控制算法能使吊重快速到达目标位置,同时使吊重摆动角度迅速衰减,且控制算法对于吊重质量具有很强的鲁棒性;在到达目标位置后再进行防摆控制,控制算法也能使吊重在目标位置迅速停止摆动。相关研究为智能无人汽车起重机的自动控制或一键定位功能的开发提供了参考,也为提高汽车起重机作业安全性提供了新思路。The truck crane is a widely used piece of construction machinery,and its operational safety is of paramount importance.Operational safety encompasses numerous factors,among which the swing of the lifting load is particularly critical.Minimizing the swing of the lifting load can significantly enhance operational safety.Firstly,a nonlinear dynamic model of the truck crane’s working device was established using the Lagrange equation.The rationality and accuracy of this model were subsequently validated through simulations using Matlab/Simulink.Next,based on the partial feedback linearization method,an anti-swing control algorithm was developed.This algorithm enables the calculation of the rotary and luffing driving torques required to mitigate load swing.Finally,comprehensive simulation research was conducted using Simulink to evaluate the effectiveness of the control algorithm.The simulation results demonstrate that as the crane transitions from its initial position to the target position,the control algorithm enables the crane to reach the target position swiftly.Simultaneously,the swing angle of the crane is significantly reduced in a short period.Moreover,the control algorithm exhibits strong robustness with respect to variations in the crane's mass.Upon reaching the target position,the anti-swing control is activated,and the algorithm effectively brings the crane to a rapid halt,minimizing any residual swinging motion.This research not only provides valuable insights for the development of automatic control systems or one-button positioning functions in intelligent unmanned truck cranes but also offers a novel perspective for enhancing the operational safety of truck cranes.

关 键 词：汽车起重机 作业安全 防摆控制 部分反馈线性化方法 

分 类 号：TH213.6[机械工程—机械制造及自动化]