基于S型曲线轨道的旋转起重机残留摆角抑制

摘要

旋转起重机被广泛地用于各种场合来运输沉重物体或有害材料，例如建筑工地，工厂，核设施以及港湾等。由于旋臂的旋转运动会使荷载产生一个二维摆角，因此针对此问题提出一种轨道生成的方式来同时实现旋臂的位置控制和荷载的残留消摆控制。首先，导出一个包含离心力项的起重机部分线性模型。其次，基于该模型通过数值计算生成预先考虑了残留摆角的S型曲线轨道。其中各个参数只需通过求解代数方程即可得到，降低了控制器设计的难度。同时该轨道可以应用于常用的工业控制器中从而降低了系统构建成本。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地操作起重机，从而大大地简化其结构和降低其安装成本。%Rotary cranes are widely used to transport heavy loads and hazardous materials in various environments, such as,shipyards,factories,nuclear installations,and construction sites.Because horizontal motion of booms in rotary cranes typically generates an undesirable two-dimensional load sway,a trajectory generation method was proposed to realize boom positioning control and residual load sway suppression.Firstly,a partial linearized dynamic model of a rotary crane including a centrifugal force term responsible for the two-dimensional load sway was derived.Next,an S-shaped curve trajectory suppressing residual load sway was generated with the numerical calculation method.The parameters of the trajectory were obtained only by solving algebraic equations.This trajectory was applied to conventional industrial controllers for reducing their system construction cost.Finally,comparing the results of simulations and tests demonstrated the effectiveness of the proposed method.Thus,the crane could be precisely operated without sensor systems for measuring load sway,the structure of the crane was simplified and its installing cost was reduced.