港口桥式起重机械负载防摇控制方法研究
Research on Load Anti Sway Control Method of Port Bridge Crane
王锋1
作者信息
- 1. 中海油能源物流有限公司,天津 300452
- 折叠
摘要
为了有效解决港口桥式起重机械负载振荡问题,提出一种港口桥式起重机械负载防摇控制方法.以港口桥式起重机械为基础,对受力情况展开全面分析,利用拉格朗 日原理构建动力学方程,并且采用小角度近似处理的简化方法计算对应的动力学方程,为构建防摇控制器提供理论基础.引入模糊控制推理逻辑,设计出一种模糊自整定PID控制器,将控制器引入到港口桥式起重机械中,实现港口桥式起重机械负载防摇控制.实验分析证明,所提方法可以获取更加满意的港口桥式起重机械负载防摇控制结果.
Abstract
In order to effectively solve the problem of load oscillation of port bridge crane,a load anti sway control method for port bridge crane is proposed.Based on the port bridge crane,a comprehensive analysis of the force situ-ation is carried out,and the Lagrange principle is used to build the dynamic equation,and the corresponding dynamic equation is calculated using the simplified method of small-angle approximation,which provides a theoretical basis for the construction of anti sway controller a fuzzy self-tuning PID controller is designed by introducing fuzzy control rea-soning logic.The controller is introduced into the port bridge crane to realize the load anti sway control of the port bridge crane.Experimental analysis shows that the proposed method can obtain more satisfactory results of load anti sway control of port bridge cranes.
关键词
港口/桥式起重机械/负载/防摇控制Key words
port/bridge crane/load/anti roll control引用本文复制引用
出版年
2024
NETL
NSTL
维普
万方数据