基于负载能量耦合的桥式起重机定位消摆控制

Positioning and Anti-swing Control for Bridge Crane Based on Payload Energy Coupling

针对桥式起重机运输过程中,台车牵引吊绳引起负载惯性摆动的问题,提出了基于负载能量耦合的桥式起重机定位消摆控制方法。该方法以二维桥式起重机数学模型为基础,分析桥式起重机系统能量,构造基于负载位移与摆角的耦合函数,借助Lyapunov方法,获取控制律;并对该闭环系统在平衡点处的稳定性进行分析,兼顾桥式起重机的准确定位与消摆功能。通过仿真结果分析,该方法能够有效抑制负载摆动,实现台车准确定位;与传统系统能量的控制和负载广义调节控制相比,具有更佳的控制效果。

For the bridge crane transportation,the payload inertia swing is caused by the trolley change.Positioning and anti-swing control of the bridge crane on the basis of payload energy coupling is proposed,which is based on the two-dimensional mathematical model.By the bridge crane energy analysis,the coupling function which is based on the payload displacement and the swing angle is constructed.And the control law is obtained by the Lyapunov method.To take into account the accurate positioning and anti-swing,the stability of the closed-loop system is analyzed at the equilibrium point.Through the simulation and analysis,the method can effectively suppress the payload swing and realize the trolley accurate positioning.It has better effect than the traditional energy control and payload generalized adjustment control.