首页|二维吊运充液容器系统的动力学与振荡控制

二维吊运充液容器系统的动力学与振荡控制

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吊车绳索吊运充液容器在工业中被广泛应用,但容器摆动与液体晃动之间的耦合动力学降低了运送的安全性和有效性.前人研究摆动-晃动耦合动力学时,将容器建模为集中质量负载,且忽略了吊钩质量对动力学的影响.提出一种全新的二维吊车吊运分布质量盛液容器系统的动力学模型,将容器考虑为刚体,并将吊钩质量考虑其中.基于动力学,提出一个全新的由整形器MZVD和光滑器FP组成的复合控制器,用于抑制容器的摆动和液体的晃动.MZVD控制器是对ZVD控制器的改进,用于减小对系统的冲击.在非线性模型上进行的一系列仿真说明了该控制方法可有效抑制系统中不期望的振荡,并对吊钩质量的变化具有很强的鲁棒性.
Dynamics and Oscillation Control of Two-Dimensional Lifting and Liquid Filled Container System
Crane rope lifting of liquid filled containers is widely used in industry,but the coupled dynamics between container oscillation and liquid oscillation reduce the safety and effectiveness of transportation.When previous researchers studied the coupled dynamics of swinging and shaking,they modeled the container as a concentrated mass load and ignored the influence of hook mass on dynamics.Propose a novel dynamic model for a two-dimensional crane to lift a distributed mass liquid container system,considering the container as a rigid body and the hook mass.Based on dynamics,a novel composite controller consisting of a shaper MZVD and a smoother FP is proposed to suppress the oscillation of containers and liquids.The MZVD controller is an improvement on the ZVD controller to reduce the impact on the system.A series of simulations conducted on nonlinear models have demonstrated that the proposed control method can effectively suppress unexpected oscillations in the system and has strong robustness to changes in hook mass.

suspensioncable swingliquid sloshingdynamic modelingvibration control

朱阔、赛东、靳小军、王锦

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西北机电工程研究所,陕西咸阳 712099

中国科学院地球环境研究所,中科院气溶胶化学与物理重点实验室,陕西西安 710061

吊挂 摆动 液体晃动 动力学建模 振荡控制

2024

自动化应用
重庆西南信息有限公司

自动化应用

影响因子:0.156
ISSN:1674-778X
年,卷(期):2024.65(3)
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