带有完整约束的双吊车系统输入整形控制

Input shaping control for underactuated dual overhead crane system with holonomic constraints

作为一种重要的物料运输工具,桥式吊车在各类工业场景中发挥着举足轻重的作用.然而随着负载体积/质量的增大,很多时候不得不使用两台吊车来协同运送负载.目前对于这类双吊车系统的防摆研究仍然较少.本文针对这一情况,率先提出了一种输入整形控制方法.具体来说,首先分析了双吊车系统中存在的完整约束,通过对系统模型的合理简化,在不失准确性的情况下获得了台车位移与负载姿态角之间的近似动力学关系.在此基础上,求取出系统真实的振荡周期并设计出了合适的输入整形器.该整形器能够在不影响台车定位的情况下,充分抑制负载的摆动,并且对系统参数不确定性具有良好的鲁棒性.仿真和实验结果也证明了这一点.

As important transportation tools, cranes are playing a very important role in various industrial fields. However, as the cargoes grow larger and heavier, in many circumstances, they have to be delivered cooperatively by two cranes. Though frequently utilized, the research of such dual overhead crane system (DOCS) is still at a primary stage. In view of this, an input shaping control method is proposed for DOCS in this paper. Specifically, the holonomic constraints of the system are elaborately analyzed at first, and the model is simplified properly without losing much accuracy. Furthermore, the dynamic relationship between the trolley position and the payload swing angle is obtained. Based on that, several input shapers are designed by calculating the real oscillating period of the DOCS. The proposed method ensures good antiswing ability and satisfactory robustness against parameter uncertainties without affecting the payload positing accuracy. Simulation and experimental results also verify this point convincingly.