基于模型预测控制的桥式起重机荷载消摆控制研究

Research on Load Anti-Swing Control of Bridge Crane Based on Model Predictive Control

针对桥式起重机荷载运动的模型,采用一种线性时变模型预测控制方法。通过建立桥式起重机荷载运动三维模型,对模型进行线性化处理得到系统线性化方程,设计线性时变模型预测控制器,对加入预测控制前后的荷载运动的轨迹跟踪效果、系统控制量、状态量的变化进行对比分析,研究其消摆控制效果。仿真分析表明,荷载的运动轨迹能快速且平稳的跟踪上参考轨迹,从而实现消摆控制。

A linear time-varying model predictive control method is adopted for the load movement model of bridge crane.Through the establishment of the three-dimensional model of the load movement of the bridge crane,the system linearization equation is obtained by linearizing the model,and the linear time-varying model predictive controller is designed.The track tracking effect,system control quantity and state quantity variation of the load movement before and after the addition of the predictive control are compared and analyzed,the anti swing control effect is studied.The simulation results show that the load trajectory can track the upper reference trajectory quickly and stably,so as to realize the anti sway control.