基于Bang-Bang控制的绞车自动排缆算法研究

Research of Winch Automatic Cable-arrangement Algorithm Based on Bang-Bang Control

提供一种简单有效的绞车自动排缆控制算法。首先,介绍绞车自动排缆控制原理,建立卷筒脉冲值和排缆机构脉冲值间的数学模型,同时引入排缆误差的概念,并分析了绞车不同工况下排缆误差的取值原则。提出了基于Bang-Bang控制思想的排缆控制算法,详细描述了排缆机构的运动控制策略。最后,通过仿真验证控制算法的性能。仿真结果表明,该控制算法能实现排缆机构跟随运动的快速响应,且稳定性好,是一种经济实用的绞车排缆控制算法。

In order to provide a simple and effective control algorithm for winch automatic cable-arrangement,firstly,the paper introduce the control principle of automatic cable-arrangement,build the model of winding drum pulse and cabling pulse,introduce the concept of cable-arrangement deviation and the principle of deviation value under different working conditions of the winch.Then,proposed the control algorithm based on BangBang control and describe the motion control strategy of cabling.Finally,the performance of the control algorithm is verified by simulation.The results show that this control algorithm displayed quick and stabilized response for cable-arrangement control,and it is an economical and practical control algorithm.