双桅杆式起重机的时变输入整形控制方法

Time-varying input shaping control for dual boom cranes

中文关键词  起重机  非线性欠驱动系统  输入整形控制  消摆控制  前馈控制

英文关键词  cranes  nonlinear underactuated systems  input shaping control  anti-swing control  feedforward control

中文摘要

      为了满足实际生产需求, 在工业中常使用两台或者多台起重机协作完成大型运输任务. 双桅杆式起重机负载能力强, 工作姿态灵活, 在大型建筑工地上得到了广泛应用. 然而, 现有控制方法大多针对动力学特性相对简单的双桥式起重机, 而对耦合性更强、动力学特性更复杂的双桅杆式起重机关注不足. 为解决此类系统的控制难题,本文通过分析系统的几何约束与动力学模型, 得到状态变量及其高阶导数之间的关系, 从而实现双桅杆式起重机非线性动力学模型的合理变换. 随后, 本文准确分析了吊臂俯仰角与负载姿态角之间的关系, 通过计算得到双桅杆式起重机的时变振荡周期, 设计了一种极不灵敏型输入整形器. 最后, 实验结果验证了所提时变输入整形控制方法能够实现起重机的准确定位及良好的消摆效果

英文摘要

      In order to meet real-world production demands, two or more cranes are used to cooperate to complete largescale transportation tasks. Due to the advantages of strong load capacity and flexible working posture, dual boom cranes (DBCs) are widely used in large construction sites. However, the existing control methods mostly focus on dual overhead cranes with simpler dynamic characteristics, but much less attention has been paid to DBCs with stronger coupling and more complicated dynamics. To solve the control issues of such systems, by analyzing the geometric constraints and dynamic model, relationships among the state variables and their higher-order derivatives can be obtained, so that the nonlinear dynamic model of DBCs can be reasonably transformed. Moreover, the dynamic relationship between boom pitch angles and payload attitude is analyzed accurately. The time-varying oscillation period of DBCs is obtained by mathematical derivation, and an extra-insensitive (EI) input shaper is designed. Finally, experimental results verify that the proposed control method can realize accurate positioning and satisfactory anti-swing effect