基于S型曲线轨道的桥式起重机最优控制

摘要

Aiming at the residual load sway problem of overhead cranes,an S-shaped curve trajectory generation method was proposed to realize residual load sway suppression.Firstly,a dynamic model of an overhead crane was derived.Next,an optimal S-shaped curve trajectory getting the shortest transport time and residual load sway suppression was generated with the numerical calculation method.Finally,comparing the results of simulations and tests validated the effectiveness of the proposed method.Thus,the crane could be precisely and rapidly operated without sensor systems for measuring load sway,the structure of the crane was simplified and its installing cost was reduced.%针对桥式起重机荷载的残留摆动问题，提出一种基于S型曲线的轨道生成法实现残留摆动抑制。首先，导出桥式起重机的简易动力学模型。其次，基于该模型通过数值计算生成同时考虑了最短运输时间和残留摆动的最优S型曲线轨道。最后，比较仿真和实验结果验证所提方法的有效性。通过使用此法可以实现在无测量摆角的传感器系统情况下准确迅速地操作起重机，从而大大地简化其结构和降低其安装成本。