塔式起重机负载能量耦合下消摆控制方法仿真
Simulation of Anti sway Control Method for Tower Crane under Load Energy Coupling
商国旭 1李航 1王勋 1朱晓杰2
作者信息
- 1. 赤峰学院物理与智能制造工程学院,内蒙古 赤峰 024000
- 2. 东华理工大学水资源与环境工程学院,江西 南昌 330000
- 折叠
摘要
由于塔式起重机的启动和制动过程对吊绳影响较大,致使吊钩上负载发生一定的摆动,无法快速将负载运送到目标位置,降低了工作效率.现提出一种负载能量耦合下的塔式起重机消摆控制方法.构建塔式起重机结构图,对其分析后得到动力学模型和其对应能量函数;加强壁架小车与负载间的能量耦合,求导能量函数;计算吊钩负载与目标位置间的误差信号,选取另外5 种不同的误差信号,将求导后的能量函数与误差信号结合起来,得到控制塔式起重机旋转的驱动力,在加入一定控制增益后,实现塔式起重机消摆控制.对所提控制方法展开性能实验测试,结果表明,所提控制方法可在最短的时间内,完成精度最高、效果最好、最稳定的消摆控制,使吊钩负载可以稳定的运送到目标位置.
Abstract
Due to the significant impact of the starting and braking process of tower cranes on the lifting ropes,the load on the hook swings to a certain extent,making it difficult to quickly transport the load to the target position and reducing work efficiency.To address this issue,an anti-sway control of tower cranes under load energy coupling was put forward.First of all,a structural diagram of tower crane was constructed.After analysis,a dynamic model and its corresponding energy function were derived.Then,the energy coupling between trolley and load was strengthened,and the energy function was deduced.Moreover,the error signal between hook load and target position was calculated,along with five additional different error signals.Finally,the derived energy function was combined with the error sig-nals to obtain the driving force for controlling the rotation of tower crane.With the addition of a certain control gain,the sway control of tower crane was achieved.Performance experiments were conducted on the proposed method.The result indicates that the method can complete the most accurate,effective,and stable swing control in the shortest time.In this way,the hook load can be delivered to the target position stably.
关键词
负载能量耦合/塔式起重机消摆控制/动力学模型/控制增益/能量函数Key words
Load energy coupling/Anti-swing control of tower crane/Dynamic model/Control gain/Energy function引用本文复制引用
基金项目
赤峰学院青年科研基金自然科学研究重点项目(CFXYQNZR2203)
赤峰市自然科学科研课题(2023-2024)(SZR2023015)
出版年
2024
NETL
NSTL
万方数据