门机停车定位的轨迹规划与控制方法研究

Research on Trajectory Planning and Control Method of Gantry Crane Parking System

针对门机启停过程中出现的冲击、吊索摆动、单环控制停车定位不精确的问题,提出了一种多项式运动轨迹规划配合双闭环的控制系统。分析了五次多项式运动规律,使用遗传算法搜索出最优参数,再使用MATLAB建模仿真验证方案可行性并将其与传统方案进行比较。最后进行了门机定点停车实验,并将仿真结果与实验结果进行对比研究,以验证仿真模型和结果的有效性。由实验结果可知,使用本文方法后,位移、速度跟随性良好,摆幅减小到5°以内,消摆时间减少到7 s左右,停车定位精度在0.04 m左右。停车过程不存在柔性冲击,实验数据基本符合仿真结果。

Aiming at the problems of impact, rope swing, and inaccurate positioning of single-loop control during the start and stop of gantry cranes, a method of polynomial motion trajectory planning for gantry cranes combining with double closed-loop control is proposed in this paper. The movement law of fifth-order polynomial is analyzed and the genetic algorithm(GA) is used to search the optimal coefficient. Then the mathmatic model of the granny crane is established with MATLAB simulation to verify the feasibility of the proposed method and compare it with the traditional method. Finally, the fixed-point parking experiment of the gantry crane is carried out and the simulation results are compared with the experimental results to verify the validity of the simulation model and results. The experimental results show that after using the proposed method, the followability of displacement and speed is good, the swing amplitude is reduced to less than 5°, the convergence time is reduced to about 7 s, and the parking error is reduced to less than 0.04 m. There is no flexible impact in the parking process, and the experimental data basically accord with the simulation results.