最优输入整形抑制变参数桥式起重机载荷摆动

Optimal input-shaper to suppress payload oscillation of bridge cranes with varying parameters

桥式起重机的加、减速运动引起载荷摆动,从而降低了起重机的工作效率、安全性和稳定性。基于起重机运动参数分布规律,以参数变化区间内载荷摆动幅值为目标函数,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,用于抑制变参数桥式起重机载荷摆动。仿真结果表明,经过最优输入整形器的控制,桥式起重机载荷摆角降为0.01 rad,而且与典型ZVD输入整形器相比,响应时间缩短了0.6774 s。

Payload oscillation of bridge cranes caused by accelerating or decelerating motion reduces working efficiency,safety and stability.Based on the distribution law of bridge cranes' dynamic parameters,the amplitude of payload oscillation in the varying range of the parameters was taken as an objective function.To suppress payload oscillation of bridge cranes with varying parameters,an optimal input-shaper was presented based on the ideas of minimizing the magnitude of the payload oscillation and optimizing the time delay induced by input-shaping.Simulation showed that the payload oscillation of bridge cranes was suppressed to 0.01rad under the control of the optimizing input-shaper.Comparing with the classical ZVD input-shaper,the system response time reduced by 0.6774s.