熔融金属吊车能量和光滑整形防摆控制器设计

Design of the Energy and Smooth Shaping Anti-Sway Controllerfor Molten Metal Crane

针对熔融金属转运吊车的防摆问题,提出了一种基于桥式欠驱动吊车无源性设计的能量控制技术与前馈光滑整形技术相结合的控制技术。区别于其它的常规吊车控制策略,由于熔融金属吊车在转运过程当中负载为高温液态金属,实现其防摆控制更具控制难度。基于吊车无源性设计的能量控制器具有良好的控制性能,可降低驱动能耗并保证吊车的快速精准定位;为防止吊运过程中的摆动引起高温液态金属负载重心产生强烈的波动,严重时甚至和吊车固有频率达到一致引发谐振,进而引进了一种光滑整形技术对操作命令进行卷积积分处理,可有效消除由液态负载晃动产生的干扰,既可完成系统的预定消摆又可抑制系统振动,进一步增强了系统的鲁棒性并减小了吊车系统摆幅,增强了系统的鲁棒性。最后通过仿真实验证明该控制方法具有良好的控制性能。

Aiming at the anti-swing problem of the molten metal transfer crane.A control technology based on the passive design of the bridge-type underdrive crane combined with the energy control technology and the feedforward smooth shaping technology is proposed.Different from other conventional crane control strategies,since the molten metal crane is loaded with high-temperature liquid metal during the transfer process,It is more dificult to control its anti-sway control.The energy controller based on the passve design of the crane has good control performance.Which can reduce driving energy consumption and ensure the rapid and accurate positioning of the crane.In order to prevent the swing during the lifting process from causing strong fluctuations in the center of gravity ofthe high-temperature liquid metal load.Even the natural frequency of the crane is consistent with the natural frequency of the crane to cause resonance.Then a smooth shaping technology is introduced to perform convolution integral pro cessing on the operation command.Which can effectively eliminate the interference caused by the sway of the liquid load.Vibration further enhances the robustness of the system,reduces the swing of the crane system.Enhances the robustness of the system.Finally.The simulation experiment proves that the control method has good control performance.