带有完整约束的双吊车系统输入整形控制

Input shaping control for underactuated dual overhead crane system with holonomic constraints

中文关键词  输入整形  完整约束  欠驱动  摆动抑制  双吊车系统

英文关键词  input shaping  holonomic constraint  underactuated  swing suppression  dual overhead crane system

中文摘要

      作为一种重要的物料运输工具, 吊车在各类工业场景中发挥着举足轻重的作用. 然而随着负载体积/质量的增大, 很多时候不得不使用两台吊车来协同运送负载. 尽管已经大量使用, 目前对于这类双吊车系统的防摆研究仍然较少. 此外, 很多方法因为复杂度和成本问题, 在实际应用中难以被大规模推广. 本文针对这一情况, 率先提出了一种输入整形控制方法. 具体来说, 首先分析了双吊车系统中存在的完整约束, 并且对系统模型进行了合理简化. 在此基础上, 根据双吊车系统动力学特性设计了合适的输入整形器. 该整形器能够在不影响定位的情况下, 充分抑制负载的摆动, 并且对系统参数不确定性具有良好的鲁棒性. 仿真和实验结果也证明了这一点.

英文摘要

      As important transportation tools, cranes are playing a very important role in various industrial fields. However, as the cargoes grow larger and heavier, in many circumstances, they have to be delivered cooperatively by two cranes. Though frequently utilized, the research of such dual overhead crane system (DOCS) is still at a primary stage. Besides, due to the cause of complexity and cost, many methods fail to be put into industrial practice. In view of this, an input shaping control method is proposed for DOCS in this paper. Specifically, the holonomic constraints of the system are elaborately analyzed at first, and the model is simplified properly without losing much accuracy. Based on that, several input shapers are designed according to the system dynamic characteristics. The proposed method ensures good anti-swing ability and satisfactory robustness against parameter uncertainties without affecting the payload positing accuracy. Simulation and experimental results also verify this point convincingly.