伴有初始负载摆角的桥式起重机能量防摆控制

Energy anti-swing control of bridge crane with initial load swing angle

桥式起重机是一种广泛应用的大型搬运设备,在实际工作过程中,台车运动时会产生伴有初始负载摆角的负载摆动,影响工作效率并带来安全隐患.针对这种情况,设定期望的台车误差轨迹和摆角误差轨迹,将桥式起重机动力学模型转换为误差跟踪动力学模型,提出一种基于能量分析方法的桥式起重机防摆控制策略.通过LaSalle不变性原理和Lyapunov方法对闭环系统的稳定性进行理论分析.仿真与实验结果表明,所提防摆控制方法的控制性能几乎不受初始负载摆角的影响,可以保证桥式起重机在无初始负载摆角和带有初始负载摆角的情况下都能取得良好的控制效果,能够驱动台车准确到达目标位置,有效抑制并快速消除负载摆角,同时对外部扰动具有很强的鲁棒性.

The bridge crane is a widely used large-scale handling equipment.In the actual work process,the load swing accompanied by the initial load swing angle will occur when the trolley moves,which will affect the work efficiency and cause safety hazards.In response to this situation,the expected trolley error trajectory and swing angle error trajectory are set,the dynamic model of the bridge crane is converted to the error tracking dynamic model,and an anti-swing control strategy of the bridge crane based on the energy analysis method is proposed.The stability of the closed-loop system is theoretically analyzed using the LaSalle invariance principle and the Lyapunov method.The results of simulation and experiment show that the control performance of the proposed anti-swing control method is hardly affected by the initial load swing angle,which can ensure that the bridge crane can achieve good control effects with or without the initial load swing angle,and drive the trolley to accurately reach the target position,effectively suppress and quickly eliminate the load swing angle,and have strong robustness to external disturbances.