桥式起重机动力学模型参数辨识及其防摆控制器设计

Parameter Identification of Bridge Crane Dynamics Model and Design of Its Anti-swing Controller

桥式起重机吊运过程中所产生的游摆,是吊运过程中必须克服的。从桥式起重机的模型辨识试验出发,通过试验法获得桥式起重机的动力学模型。在防摆控制器设计方面,提出利用广义预测控制整定PID参数的方法,使得传统的PID控制器能够有效地抑制和消除起重机吊钩的游摆。仿真和试验结果均表明:这种PID控制器的设计方法是正确而有效的,对于实现起重机无人值守的自动控制具有重要意义。

Swing generated by the hook during the lifting process of bridge crane must be overcome.Based on the model identification experiment of bridge crane,the dynamic model of bridge crane was obtained by test.In the aspect of anti-swing controller design,a method of using generalized predictive control to adjust PID parameters was proposed,so that the traditional PID controller could effectively suppress and eliminate swing of the crane hook.Both simulation and experiment results show that the design method of this PID controller is correct and effective,it is of great significance for realizing unattended automatic control of crane.