摘要
针对桥式起重机运行过程中,台车加速度变化引起的负载摆动问题,提出了一种基于能量耦合的桥式起重机防摆定位分段控制方法。方法以二维桥式起重机数学模型为基础,通过对状态变量和位置变量分段分析,结合桥式起重机系统能量,构造了一个基于李雅普诺夫函数并设计了一种相应的非线性控制器;用拉萨尔不变性原理对闭环系统进行稳定性证明,上述控制器兼顾桥式起重机准确定位与负载消摆功能。通过仿真结果分析,上述方法在实现抑制负载摆动和台车准确定位的同时,对外部干扰有较好的鲁棒性。
In order to solve the load swing problem caused by the change of the trolley acceleration during the operation of the bridge crane,a piecewise-control method for anti-pendulum positioning of the bridge crane based on energy coupling was proposed.Based on the two-dimensional bridge crane mathematical model,a nonlinear controller based on Lyapunov function was constructed by piecemetical analysis of state variables and position variables,combined with the energy of the bridge crane system.Lasalle invariance theorem was used to prove the stability of the closed-loop system.The controller took into account both the accurate positioning and the load swinging of the bridge crane.The simulation results show that the proposed method has good robustness to external disturbances while realizing the suppression of the load swing and accurate positioning of the trolley.
作者
谷帅辉
范波
赵政鑫
廖志明
GU Shuai-hui;FAN Bo;ZHAO Zheng-xin;LIAO Zhi-ming(School of Information Engineering,Henan University of Science and Technology,Luoyang Henan 471023,China;Luoyang Karizhong Equipment Co.,Ltd.,Luoyang Henan 471023,China)
出处
《计算机仿真》
北大核心
2023年第4期295-299,340,共6页
Computer Simulation
基金
国家自然科学基金(U1704157,61473115)。
关键词
桥式起重机
分段控制
定位防摆
Bridge Crane
Segmentation control
Positioning and anti-swing
