双小车岸边集装箱起重机主吊具防摇防扭控制特性研究

Research on the Anti-rolling and Anti-twist Control Characteristics of the Main Spreader of the Double Trolley Quay Crane

针对双小车岸边集装箱起重机主吊具防摇及防扭控制问题,建立了小车吊重负载动力学模型,采用基于线性二次型的最优控制方法,实现主小车和主吊具精确位置控制,主吊具防扭控制采用串级控制方式,控制策略为带死区补偿的变增益PID,实现自动防扭控制,整个过程调节平稳,可提高自动化作业效率。

In view of the anti-rolling and anti-twist control of the main spreader of the double trolley quay crane,the dynamic model of trolley load is established.Based on the linear quadratic optimal control method,the precise position control of the main trolley and the main spreader is realized.The anti-twist control of the main spreader adopts the cascade control mode.The control strategy is variable gain PID with dead zone compensation,which realizes the automatic anti twist control.The whole process is adjusted smoothly and the efficiency of the automatic operation can be improved.