双摆旋转起重机轨迹生成

Trajectory generation for double-pendulum rotary crane

中文关键词  旋转起重机  双摆效应  轨迹生成

英文关键词  Rotary crane  Double-pandulum effect  Trajectory generation

中文摘要

      虽然起重机系统的荷载摆动呈现出双摆特性比单摆特性更加接近于实际生产，但是，在这种情况下，系统特性分析和控制器的设计难度将大大增加. 为此，本文提出一种基于S型曲线轨道生成法实现旋转起重机两级残留摆角的抑制. 首先根据拉格朗日运动方程推导出双摆旋转起重机的数学模型，再采用干扰观测器对该模型中的摩擦项、各子系统之间的耦合项进行补偿从而获得线性模型. 由于各子系统中的一、二级摆角仍然是耦合的，因此采用模态分析对其进一步简化从而获得各自子系统的线性解耦模型. 其次，分别为各子系统设计S型曲线轨迹，相关参数可通过求解代数方程获得. 最后，数值仿真验证该方法的有效性.

英文摘要

      Crane systems with double-pendulum effect seem more piratical than those with single-pendulum effect. However, in these cases the load sway properties become more complicated so that the difficulty of the dynamic performance analysis and controller design is increased. In order to solve the aforementioned problems, the linear dynamics of a rotary crane with double-pendulum effect is derived based on disturbance observers, and is decoupled for controller design by modal analysis. Next, an S-shaped curve is generated on the basis of the decoupled linear crane model for suppressing residual double-pendulum load sway. Parameters of the trajectory can be easily obtained by calculating algebraic equations. Finally, simulation results validate the effectiveness of the proposed method.