抑制桥式起重机变频率摆动的优化复合输入整形器

系统仿真学报 ›› 2015, Vol. 27 ›› Issue (12): 3044-3049.

• 信息、控制、决策与仿真 • 上一篇下一篇

抑制桥式起重机变频率摆动的优化复合输入整形器

刘华森, 程文明

西南交通大学机械工程学院,四川成都 610031

收稿日期:2015-04-02 修回日期:2015-07-02 出版日期:2015-12-08 发布日期:2020-07-30
作者简介:刘华森(1988-),男,四川遂宁,博士生,研究方向为起重机自动控制;程文明(1963-),男,浙江金华,教授,博导,研究方向为数字物流装备与控制。
基金资助:
四川省应用基础研究计划项目(2013JY0136)

Optimized Composite Input Shaping Based on Residual Oscillation Suppressing

Liu Huasen, Cheng Wenming

Research Institute of Mechanical Engineering; Southwest Jiaotong University, Chengdu 610031, China

Received:2015-04-02 Revised:2015-07-02 Online:2015-12-08 Published:2020-07-30

摘要/Abstract

摘要： 针对桥式起重机欠驱动吊车在惯性力等作用下会产生残余摆动的问题,提出基于起重机变频率摆动抑制的优化复合输入整形器主动控制方法。建立桥式起重机摆动的动力学模型,并研究桥式起重机摆动频率的概率分布;为增强桥式吊车残余摆动的抑制效果以及控制的鲁棒性,根据桥式起重机的摆动概率分布有针对性地设计优化的多模态复合输入整形器作为前馈控制输入。将前馈控制与桥式吊车自身的摆动频率特性相结合,从而提高桥式吊车控制系统的频率鲁棒性。经过优化的复合多模态复合输入整形器的控制,桥式起重机的摆动幅度下降。

关键词: 欠驱动系统, 摆动概率分布, 复合输入整形, 摆动抑制

Abstract: The optimized input shaping control method was proposed to reduce the under actuated overhead crane’s oscillation caused via the inertia force. The dynamic model of the overhead crane was proposed according to the physics structure of the crane. The probability distribution function of the crane’s swing frequency was obtained. The optimized multi-model composite based on the probability distribution function of the crane’s swing frequency was used as the feed-forward input to increase the frequency of robustness. Simulation results indicate that the optimized multi-model composite input shaping can reduce the oscillation the overhead crane.

Key words: under actuated, swing frequency, composite input shaping, residual oscillation

中图分类号:

TH213.5

刘华森, 程文明. 抑制桥式起重机变频率摆动的优化复合输入整形器[J]. 系统仿真学报, 2015, 27(12): 3044-3049.

Liu Huasen, Cheng Wenming. Optimized Composite Input Shaping Based on Residual Oscillation Suppressing[J]. Journal of System Simulation, 2015, 27(12): 3044-3049.

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抑制桥式起重机变频率摆动的优化复合输入整形器

Optimized Composite Input Shaping Based on Residual Oscillation Suppressing

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