基于输入整形法的码头装卸起重机防摇研究

Research on Anti Sway of Wharf Handling Crane Based on Input Shaping Method

在起重机装卸货物过程中,吊重会出现摇摆,使得货物不能及时运输到指定位置,从而会影响码头的生产效率。所以要研究出一种适用于码头环境,并且保证时间最优,成本最优的起重机防摇控制方法。针对起重机的吊重摇摆问题,建立吊重摇摆的动力学模型,提出了三种正反POSICAST输入整形法,采用正向POSICAST控制方法能够消除二阶阶跃响应的超调,在三个不同时刻进行反向POSICAST的延时叠加,能够使吊重的摆角分别在3/2个,1个以及3/4个系统阻尼振荡周期内回到零。根据建立的模型,将小车运行的加速度作为输入,按照正反POSICAST的控制原理进行调节,从而控制小车的运行速度,并按照设定的小车最大匀速速度,对小车加速度的输入进行成比例调节,使得吊重的摆角作为输出,实现起重机的防摇摆控制。并以Matlab为仿真平台,搭建起重机防摇控制的仿真模型,仿真结果表明,系统具有良好的防摇效果。

In this paper, we built a dynamic model of sling load swing aiming at the crane swing problem, and proposed three kinds of forward and reverse POSICAST input shaping methods. Firstly, we eliminated the overshoot of second order step response based on the forward direction POSICAST control method and made delay-superposition with reverse direction POSICAST at three different moments. The pivot angle of sling load returned to zero in 3/2, 1 and 3/4 period of the systematic damped oscillation. Then, we used the acceleration as the input and made adjustment according to the control theory of forward and reverse POSICAST to control the car running speed. Moreover, we made the proportionate adjustment to the input of car acceleration according to the given maximum uniform velocity of car. The pivot angle of sling load was act as the output and the anti-swing control of crane was achieved. Finally, we used Matlab/Simulink as the simulation platform and set up the simulation model of came anti-swing control. The simulation results show that the system has better effect of anti-swing.