基于指令光滑技术的分布质量负载吊车振动抑制技术研究

Study on vibration suppression technology of distributed mass load crane based on instruction smoothing

吊车—绳索—负载是一个典型的柔性振动系统,负载的振动抑制研究备受国内外学者的关注。根据实际的吊车及绳索连接方式,建立了非线性程度及振动过程更加复杂的分布质量负载动力学模型,在此基础上通过改变运输负载的质量和距离验证了指令光滑控制器振动抑制的有效性和良好的鲁棒性,为吊车振动控制提供了新的控制策略。通过仿真和实验验证了方法的有效性,具有一定的科学和实际意义。

Crane rope-load as a typical flexible vibration system, load vibration suppression is very much concerned at home and abroad, and the research is focused on the dynamics model of the load,which is simplified as a particle pendulum or double pendulum model control method mainly concentrated in the closed loop control strategy and input shaping strategy.According to the actual crane and rope connection mode, it establishes dynamic model with distribution of mass loading, the degree of nonlinearity and vibration process, verifies the instruction smoother vibration suppression effectiveness and good robust character.The simulation and experimental results provide a new control strategy for the vibration control of the crane.