复合运动激励下吊装多体系统振动分析与联合控制

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摘要建立了针对吊装系统在复合运动激励下的多体动力学模型，并给出了系统振动抑制的联合控制方法。以回转和变幅角速度为系统输入，分别利用作大范围运动的弹簧质量阻尼系统和空间悬吊系统描述吊臂弹性振动和吊物摆动，基于拉格朗日方程，采用递推列式法推导并给出了吊装多体系统5自由度空间运动方程。分别采用输入整形法和比例微分（PD）反馈控制法对吊物空间摆动及吊臂弹性振动进行振动控制，根据系统耦合振动特性，设计了能同时抑制吊臂振动和吊物摆动的联合控制器。系统振动分析及联合控制结果表明，所构建的动力学模型能有效分析回转和变幅复合运动激励下吊装多体系统的动力学特征，相比传统输入整形控制法，所设计的联合控制器对吊装多体系统的振动抑制效果得到较大提升。

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	颜世军
	彭宇何
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关键词 ：多体吊装系统, 复合运动激励, 动力学响应, 联合控制

Abstract：A dynamic model is established of multi-body systems for hoisting under compound motion, and a control system combining input shaping and feedback control method is proposed for the system. The boom’s vibration and payload’s swing are described by using the spring-mass-damping system and suspension system respectively in the model. Based on Lagrange’s equation, a five-DOF space motion equation of the hoisting system is derived and given by using the recursive method. The combined input shaping method and the proportional-derivative feedback algorithm are used to suppress the payload’s swing and the boom’s elastic vibration simultaneously, according to the coupling vibration characteristics of the system. Results of vibration analysis show that the model can effectively analyze the dynamic characteristics of the multi-body system under the combining slewing and luffing motion excitation. Compared with the traditional input shaping control method, the vibration suppression effect of the designed controller is greatly improved.

Key words： multi-body system for hoisting compound motion dynamic response combined control method

收稿日期: 2021-11-15 出版日期: 2023-02-28

引用本文:

颜世军，彭宇何，彭剑，任中俊 . 复合运动激励下吊装多体系统振动分析与联合控制[J]. 振动与冲击, 2023, 42(4): 156-162.
YAN Shijun，PENG Yuhe，PENG Jian，REN Zhongjun. Vibration analysis and combination control of a multi-body hoisting system under compound motion. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(4): 156-162.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2023/V42/I4/156

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