伴有初始负载摆角的桥式起重机能量防摆控制研究
DOI:
作者:
作者单位:

沈阳建筑大学

作者简介:

通讯作者:

中图分类号:

TP273

基金项目:

国家自然科学基金项目(No.52075348);住建部科技计划项目(2019-K-080);河北省省级科技计划资助(19211904D)


Research on the energy anti-swing control of bridge crane with initial load swing angle
Author:
Affiliation:

Shenyang Jianzhu Unibersity

Fund Project:

National Science Foundation of China(No:52075348) ;Science and Technology Project of Ministry of Housing and Urban-Rural Development(2019-K-080);Key R & D project of Hebei Province(192119904D)

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    桥式起重机是一种广泛应用的大型搬运设备,在实际工作过程中,台车运动时会产生伴有初始负载摆角的负载摆动,影响工作效率并带来安全隐患.针对这种情况,设定期望的台车误差轨迹与摆角误差轨迹,将桥式起重机动力学模型转换为误差跟踪动力学模型,提出一种基于能量分析方法的桥式起重机防摆控制策略.通过LaSalle不变性原理和Lyapunov方法对闭环系统的稳定性进行了理论分析.仿真与实验结果表明,所提防摆控制方法的控制性能几乎不受初始负载摆角的影响,可以保证桥式起重机在无初始负载摆角和带有初始负载摆角的情况下都能取得良好的控制效果,能够驱动台车准确到达目标位置,有效抑制并快速消除负载摆角,同时对外部扰动具有很强的鲁棒性.

    Abstract:

    The bridge crane is a widely used large-scale handling equipment.In the actual work process, the load swing accompanied by the initial load swing angle will occur when the trolley moves, which will affect the work efficiency and cause safety hazards. In response to this situation, the expected trolley error trajectory and swing angle error trajectory are set, the dynamic model of the bridge crane is converted to the error tracking dynamic model, and an anti-swing control strategy of the bridge crane based on the energy analysis method is proposed. The stability of the closed-loop system is theoretically analyzed by LaSalle invariance principle and Lyapunov method.The results of simulation and experiment show that the control performance of the proposed anti-swing control method is hardly affected by the initial load swing angle, which can ensure that the bridge crane can achieve good control effects without the initial load swing angle and with it. It can drive the trolley to accurately reach the target position, effectively suppress and quickly eliminate the load swing angle, and have strong robustness to external disturbances.

    参考文献
    相似文献
    引证文献
引用本文
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:2021-01-02
  • 最后修改日期:2021-04-14
  • 录用日期:2021-04-21
  • 在线发布日期:
  • 出版日期: