基于起升高度的最优输入整形器抑制桥式起重机载荷摆动

Input shaper using optimization for controlling load swing of overhead traveling based on lift height

桥式起重机具有挠性机械环节—起升钢丝绳,其加、减速运动引起载荷摆动。为了消除这种摆动,根据桥式起重机起升高度的分布规律,基于载荷摆动幅值最小及优化时滞的思想设计最优输入整形器。仿真结果表明,在最优输入整形器的控制下,80/20t桥式起重机载荷最大摆动角度为0.036rad,与无输入整形器控制情况相比,载荷的最大摆角降低了95%。

Acceleration and deceleration movement of lifting rope can cause load swing due to rope＇s flexibility of overhead traveling crane. The paper designs input shaper using optimization to minimize load amplitude and optimize the delay, according to lifting height distribution. The simulating result shows that the maximum load swing angle of 80/20 t overhead traveling crane with input shaper is 0. 036 rad, the angle reduces by 95% in comparison to the crane without input shaper.