PD结合输入整形控制桥式起重机的载荷摆振、控制力及能耗分析

Analysis on Payload Oscillation,Actuator Effort and Energy Usage of PD Combined with Input-shaping for Bridge Cranes

桥式起重机的加、减速运动引起载荷摆振,从而降低了起重机的工作效率、安全性和可靠性.基于起重机的动力学特性提出PD结合输入整形控制策略,研究在斜坡速度输入信号作用下PD结合输入整形控制系统的响应、控制力和能耗,定量分析输入整形和反馈增益对载荷的摆振幅值、摆振周期、控制力及能耗的作用规律.在相同反馈增益的情况下,与PD反馈控制相比较,PD结合输入整形控制使载荷的最大摆振幅值降低27%,控制器控制力降低37%,而且在一个摆振周期内有效消除载荷的残留摆振,减小起重机的辅助作业时间,提高了系统的工作效率,降低了系统的能耗.

Payload oscillation of bridge cranes which is aroused by accelerating or decelerating motion reduces working efficiency,safety and stability.Based on payload oscillation performances of bridge cranes,the control strategy of PD combined with input-shaping was presented.The system responses,the actuator efforts,energy usages of PD combined with input-shaping control system,subject to ramp velocity inputs,were described in formula.The effect of input-shaping and feedback gains on payload vibratory magnitudes and vibratory periods,the actuator efforts and energy usages were analyzed quantitatively.Given the condition of the same feedback gains as PD feedback control,compared with PD control,PD combined with input-shaping control suppressed the magnitude of payload oscillation by 27% and reduced the actuator effort by 37%.Input-shaping eliminates effectively the residual vibration in one vibratory period.Therefore PD combined with input-shaping control minimizes service working time,increases system efficiency and saves energy.