塔机位置与防摆控制研究

Research of Tower Crane's Position and Anti-Swing Control

塔式起重机作为一种最常用的运输机械,在作业过程中,由于作业环境恶劣以及自身缺陷等原因,给生产实践造成了安全隐患。针对此情况,文中采用延迟反馈控制和模糊逻辑控制技术,同时考虑塔机平移运动和旋转运动的耦合作用,设计出了基于延迟反馈和模糊控制的塔机小车定位和负载防摆控制器。通过计算机仿真可知,在负载运动过程中,所设计之控制器能够有效控制小车位置精度,且能够有效地消除负载摆动。结果表明了该系统有效且可行。

Tower crane was one of the common lifting machineries.During the process in work,it gave the production practice safety hazard due to the harsh operating environment and its own reasons,etc.In order to solve the problems,tracking controller and anti-swing controller based on delayed-feedback control with fuzzy logic control were designed,by using the techniques of delayed-feedback control and fuzzy logic control,at the same time considering the coupling between the rotational and translational motions.The computer simulations showed that the controllers designed using both approaches successfully transfer the load to its final destination without residual oscillation.The simulations results show that the feasibility and effectiveness of the system.