脉冲输入下基于输入整形法的起重机防摇摆方法

Crane Anti Sway Method Based on Input Shaping with Pulse Input

摘要:

起重机在工业生产中有着广泛的应用,在其装卸货物的过程中,吊重产生的摇摆,会影响码头的安全性及运输效率。所以提出了一种适合工业环境,成本最优,摆角回零时间最优的起重机防摇摆的方法。首先,建立了吊重的动力学模型,经过分析加速度输入和摆角输出后,提出了脉冲加速度输入下一族基于输入整形法的起重机防摇方法。在不同时刻,让不同幅值的脉冲响应进行叠加,当输入为二脉冲,三脉冲,四脉冲,......,n脉冲时,摆角输出能在1/2,2/3,3/4,......,(n-1)/n个系统震荡周期内回到零。最后,以MATLAB为仿真平台,对该方法进行仿真,仿真结果表明,此控制方法具有良好防摇的效果。

Abstract:

Cranes have a wide range of applications in industry. In order to eliminate the swing caused by the operation and improve the loading efficiency, it is necessary to propose a crane anti-swing control method suitable for the industrial environment. At first, we built a dynamic model of crane load swing. Secondly, we proposed a series of crane anti-swing method based on input shaping with pulse input. We superposed different amplitude impulse responses at different moments. The swing angle returned to zero in 1/2,2/3,3/4,??????, （n-1）/n period of system oscillation, when the input was two, three, four,???n impulses . Thus，we can control the angle of the crane load based on POSICAST control theory. Finally, we used MATLAB as the simulation platform and set up the model of anti-swing control of overhead cranes. Numerical and experimental results indicated that the proposed shaper can effectively reduce residual vibrations of cranes.