基于联合仿真的桥式起重机吊重动态特性分析与消摆控制研究

Dynamic characteristics analysis and anti-swing control ofbridge crane based on co-simulation

针对桥式起重机工作过程中存在的因负载摆动,而导致工作效率低、安全风险大的问题,为了掌握影响摆角的关键因素,通过MATLAB/Simulink、SolidWorks和ADAMS软件联合仿真,对吊重系统进行了动态特性分析,得出了初始摆角、绳长变化、运行速度等对摆角变化的影响因素。为安全平稳控制桥吊,设计了基于模糊自适应的PID控制器;基于模糊自适应控制的联合仿真,对比和分析了所设计控制器与常规PID控制器在系统摆角抑制上的效果;为进一步检验设计控制器的消摆效果,按照桥式起重机真实结构,搭建了桥吊防摆控制实验平台,对其进行了验证。研究结果表明:所设计的控制器在位置控制和摆角控制上均较常规PID控制提前4 s,控制精度和鲁棒性也较常规PID有所提升。

Aiming at the problem that the load was easy to swing in the bridge crane operation,which reduced the work efficiency and increased the safety risk,in order to master the key factors affecting the swing angle,the dynamic characteristics of the lifting system were analyzed through the joint simulation of MATLAB/Simulink,SolidWorks and ADAMS software.The influence of different factors such as initial swing angle,rope length change and running speed on swing angle change were obtained.In order to control the bridge crane safely and stably,a fuzzy adaptive PID controller was designed,based on the co-simulation of fuzzy adaptive control,the effect of the designed controller and the conventional PID controller on the swing angle suppression was analyzed and compared.In order to test the pendulum control effect of the designed controller,according to the real structure of the bridge crane,an experimental platform for pendulum control of the bridge crane is built.The simulation and experimental results show that the designed controller is 4 s ahead of the conventional PID control in the position control and swing angle control,and the control accuracy and robustness are also improved.