基于机电耦合动力学模型的起重机类欠驱动系统定位防摆控制
宋鹏程 1林夫奎 2张金侠3
作者信息
- 1. 北京起重运输机械设计研究院有限公司 北京 100007;北京市自动化物流装备工程技术研究中心 北京 100007
- 2. 北京起重运输机械设计研究院有限公司 北京 100007;机械工业起重机械轻量化技术重点实验室 北京 100007
- 3. 北京起重运输机械设计研究院有限公司 北京 100007
- 折叠
摘要
在研究起重机的定位防摆问题时,常规建模手段会忽略电气控制系统对控制效果造成的影响,为此,文中提出了机电耦合动力学建模的研究方法.首先分析了起重机定位防摆控制的当前研究现状,指出了当前起重机类欠驱动系统定位防摆控制研究中存在的问题,然后探讨了当前机电耦合的研究方法对于起重机定位防摆控制的效果,并给出了基于解析解的机电耦合动力学的建模思路.研究表明:考虑机电耦合建模,可以更加完整地描述起重机的定位防摆控制模型,并为其定位防摆控制研究提供理论依据.
Abstract
In the study of crane positioning and anti-swing,the traditional modeling method will ignore the influence of electrical control system on the control effect.Therefore,in this paper,a research method of electromechanical coupling dynamics modeling is proposed.Firstly,the current research status of crane positioning and anti-swing control was analyzed,and the problems existing in the current research on positioning and anti-swing control of crane underactuated systems were pointed out.Then,the effect of current electromechanical coupling research methods on crane positioning and anti-swing control was discussed,and the modeling idea of electromechanical coupling dynamics based on analytical solution was put forward.The results show that the electromechanical coupling modeling can describe the positioning and anti-swing control model of crane more completely,and provide theoretical basis for its positioning and anti-swing control research.
关键词
欠驱动系统/机电耦合建模/起重机械/定位防摆控制Key words
underactuated system/electromechanical coupling modeling/hoisting machinery/positioning and anti-swing control引用本文复制引用
出版年
2023
国家科技期刊平台
NSTL
万方数据