绳长变化的桥式起重机位置跟踪迭代控制

Iterative Control of Bridge Crane Location Tracking With Changing Cord Length

研究桥式起重机定位跟踪优化控制问题,要求负载运动定位准确。但在运输过程中,由于摆动引起小车位置定位不精确,容易造成货物侧翻等事故。随着运输速度的提高,精确定位花费更多的时间,影响了运输效率。实际中运载物品或部件经常是批量处理,为提高效率,提出采用迭代学习控制的桥式起重机位置跟踪及防摆控制方法,建立了绳长可变的二维桥式起重机数学模型,并设计了PD型迭代学习控制算法。采用压缩映射方法证明了算法的收敛性。实验表明,迭代学习控制可有效利用桥式起重机运行的重复信息,实现有限时间区间内的位置完全跟踪,同时可有效抑制绳索的摆动。仿真结果验证了跟踪优化控制的有效性。

For the bridge crane positioning tracking optimal control problem, accurate positioning of load is re- quired. However, inaccurate positioning of car caused by swing when transporting is easy to cause the goods rollover accidents. With the improvement of transportation speed, accurate positioning spends much more time, which influ- ences the transport efficiency. In practical systems, transporting goods or components is often a batch process. To improve the efficiency of transporting load, the anti - swing and position tracking problem for bridge crane is consid- ered based on iterative learning control. A two - dimensional mathematical model with changing cord length of bridge crane is first established and then the PD - type iterative learning control law is given. The convergence of the pro- posed iterative learning control law is analyzed depending on contraction mapping technique. It is shown that the con- trol algorithm can suppress the angle effectively and obtain perfect tracking performance after some iteration. A simu- lation example is also given to illustrate the effectiveness of the proposed approach.