集装箱桥吊防摇切换控制研究

Anti-swing switching control for overhead containers

针对桥式吊车这类欠驱动系统,为提高小车迅速消除集装箱摆动的能力,提出一种基于切换的防摇控制算法。通过分析吊具摆角与小车运行加减速之间的关系,建立集装箱桥吊系统的数学模型。由摄像头和反光板组成的传感器将检测到的图像,经处理后得到吊具的角度。再将吊具的摆角信号引入到防摇控制中,从而构成闭环控制系统。根据吊具摆角大小给出小车速度切换指令来消除吊具的摆动。当小车在目标位置停止运动时,吊具的摆角范围为±0·01rad,满足系统设计的要求。计算机仿真和桥吊装置试验结果表明该算法的有效性。

In order to enhance the trolley＇ s capability of eliminating the swing of container, anti-swing switching control for overhead crane, which belonged to a kind of underactuated system, was presented. The mathematic model of trolley and load was established according to the mutual relationship between the swing angle of the load and the acceleration of the trolley. The sensor composed of the camera and reflectors detected the image to get the swing angle signal, which was introduced to compose a closed-loop control system. To eliminate the swing angle, velocity-switching instruction of the trolley was given based on the swing angel. The range of the load swing angle is±0. 01 radian when the trolley stops at the target position. The computer simulations and experiments with the laboratory-size model of the overhead container system verify the efficiency of the proposed method.