桥式起重机轨迹规划的方法研究

doi:10.16182/j.issn1004731x.joss.17-0156

系统仿真学报 ›› 2019, Vol. 31 ›› Issue (5): 971-977.doi: 10.16182/j.issn1004731x.joss.17-0156

桥式起重机轨迹规划的方法研究

邵雪卷¹, 李瑶¹, 张井岗¹, 张学良²

1. 太原科技大学电子信息工程学院,山西太原 030024;
2. 太原科技大学机械工程学院,山西太原 030024

收稿日期:2017-03-29 修回日期:2017-07-10 出版日期:2019-05-08 发布日期:2019-11-20
作者简介:邵雪卷(1975-),女,山西运城,博士,副教授,研究方向为起重机械、电气传动的控制策略;李瑶(1988-),女,陕西汉中,硕士,研究方向为桥式起重机的轨迹规划。
基金资助:
山西省研究生优秀创新项目(2016BY133)

Trajectory Planning Method of Overhead Crane

Shao Xuejuan¹, Li Yao¹, Zhang Jinggang¹, Zhang Xueliang²

1. School of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China;
2. School of Mechanical Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China

Received:2017-03-29 Revised:2017-07-10 Online:2019-05-08 Published:2019-11-20

摘要/Abstract

摘要： 针对桥式起重机小车能以光滑的加速度平稳运行问题,在考虑起重机自身约束条件和小车与轨道间摩擦的基础上,提出了一条多项式加速度轨迹。利用小车运动和负载摆角之间的动态耦合关系,设计了一个消摆环节。结果表明：当绳长改变时,小车摆角依旧在约束的范围内。通过构造李雅普诺夫能量方程证明了系统稳定性并利用Barbalat引理证明了所规划的参考轨迹够使小车运动收敛至目标位置且能够消除小车负载摆动。在Matlab环境下建模并仿真,验证了所规划参考轨迹的合理性及优越性。

关键词: 桥式起重机, 光滑, 加速度, 轨迹, 消摆

Abstract: To make the trolley of bridge crane move stably with smooth acceleration, a polynomial acceleration trajectory is proposed based on the constraint conditions of the crane and the friction between the trolley and the rail. An anti-swing plan is designed employing the dynamic coupling relationship between the motion of the trolley and the load swing. Results indicate that when the length of the rope is changed, the swing angle of the trolley is still within the limits. The stability of the system is proved by constructing Lyapunov energy equations, and the Barbalat lemma confirms that the planned reference trajectory can make the trolley motion converge to the target position and eliminate the swing. The rationality and superiority of the planned reference trajectory are verified by modeling and simulation in Matlab environment.

Key words: overhead crane, smooth, acceleration, trajectory, anti-swing

中图分类号:

TP273

邵雪卷, 李瑶, 张井岗, 张学良. 桥式起重机轨迹规划的方法研究[J]. 系统仿真学报, 2019, 31(5): 971-977.

Shao Xuejuan, Li Yao, Zhang Jinggang, Zhang Xueliang. Trajectory Planning Method of Overhead Crane[J]. Journal of System Simulation, 2019, 31(5): 971-977.

参考文献

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桥式起重机轨迹规划的方法研究

Trajectory Planning Method of Overhead Crane

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