基于迭代学习控制的岸桥小车定位控制仿真研究

Simulation on Anti-swing of Container Cranes Based on Iterative Learning Control

为实现岸桥小车定位后减少甚至消除集装箱摇摆,提高岸桥工作效率。通过对岸桥吊重系统的动力特性分析,基于广义坐标下拉格朗日方程建立的小车—吊重数学模型,依据在定点停靠阶段集装箱吊运过程的重复特性,选择开环PD型迭代学习控制方法进行仿真分析,经过多次调试整定PD参数。基于Simulink对迭代学习控制器进行建模,设计不同绳长吊重系统模型。仿真实验结果对算法进行了很好的验证,对工程应用具有一定的实用参考价值。

To achieve the purpose of reducing or even eliminating the fixed stop container＇s swinging after container cranes positioning, thereby improving the efficiency of quayside container cranes, the PD-type iterative learning control is selected to perform simulation analysis. This selection is based on the analysis of dynamic properties of quayside container lifting systems and the qualities of the repetitive nature of the swing phase of the container. A fixed initial state is assumed, and the PD parameters are determined after several debugging tasks. Based on Simulink blocks, the entire iterative learning controller model is established to design lifting systems of different length of ropes. The simulation results show that the algorithm is effective and has some practical reference value for engineering application.