针对工业桥式起重机的异步电机难以准确跟踪给定轨迹，从而导致离线轨迹规划算法定位误差很大的问题，论文提出一种基于相平面分析的在线轨迹规划算法。这种方法利用激光测距仪采集位置信息，在起重机运行过程中，根据台车与目标位置的距离来优化轨迹不同阶段的运行时间，并实时调整台车轨迹的有关参数，以实现台车精准定位的目标。实验结果表明，这种方法可以很好地兼顾负载快速消摆与台车准确定位两方面的要求，有利于提升桥式起重机的运送效率。论文将这种在线轨迹规划方法成功应用于标准32 t工业桥式起重机，并取得了良好的运行效果。%For an industrial overhead crane, it is usually very difficult for its asynchronous motors to track the planned trajectories exactly, which results in large positioning errors when employing an off-line trajectory planner on the system. Motivated to solve this problem, this paper proposes an on-line trajectory-planning method based on phase plane analysis. To achieve the objective of precise positioning, the parameters of the constructed trajectory are updated based on the trolley’s position measured by laser rangefinders when the overhead crane is under operation, and the operating time for different stages of the trajectory are optimized according to the distance between the trolley and the target position. Experimental results show that this method simultaneously achieves the requirements of rapid swing elimination and precise positioning of the trolley, improving operating efficiency of overhead cranes. The designed trajectory planner is successfully applied to a standard 32 tons industrial overhead crane and achieves satisfactory performance.
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