基于S型曲线轨道的桥式起重机最优控制

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振动与冲击 ›› 2014, Vol. 33 ›› Issue (23) : 140-144.

论文

基于S型曲线轨道的桥式起重机最优控制

欧阳慧珉，张广明，王德明，梅磊，邓歆

作者信息 +

Optimal Control for Overhead Cranes Based on S-Shaped Curve Trajectory

OUYANG Huimin ZHANG Guangming WANG Deming MEI Lei DENG Xin

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文章历史 +

摘要

本文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。

Abstract

This paper aims at the residual load sway problem of overhead cranes, and proposes an S-shaped curve trajectory generation method to achieve residual load sway suppression. Firstly, a dynamic model of an overhead crane is derived. Next, an optimal S-shaped curve trajectory that can achieve the shortest transport time and residual load sway suppression is generated by numerical calculation. Finally, comparative simulations and experimental results demonstrate the effectiveness of the proposed method. Therefore, the crane can be precisely and rapidly operated without sensor systems for measuring load sway of the load, consequently, the structure of the crane can be simplified and implementation cost can be reduced.

导出引用

欧阳慧珉;张广明;王德明;梅磊;邓歆. 基于S型曲线轨道的桥式起重机最优控制[J]. 振动与冲击, 2014, 33(23): 140-144

OUYANG Huimin ZHANG Guangming WANG Deming MEI Lei DENG Xin. Optimal Control for Overhead Cranes Based on S-Shaped Curve Trajectory[J]. Journal of Vibration and Shock, 2014, 33(23): 140-144