控制双梁桥起负载防摆的仿真与实验研究
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摘要
对桥式起重机的防摇摆策略进行研究与分析,以提高设备的工作效率;以及安全可靠行。通过对大小车以及起升机构的运动、受力进行分析和研究,明确了消摆的控制重点,构建了吊钩摇摆时系统动力学的模型与实物模型。利用模糊算法与PID[比例(proportion)、积分(integral)、微分(derivative)]控制相结合构成起重机防摆系统,对大小车以及重物的摇摆情况进行实时的监测;并对不合理的情况进行有效控制。通过与普通PID进行比较;并进行了仿真和实验。最终证明了该方法能够使负载快速停摆,减少了超调且鲁棒性好。
The anti-swing strategy of bridge crane is studied and analyzed in order to improve the working efficiency of the equipment,safe operation. By analysis and study of the movement and force of the big and small car and the lifting mechanism,control emphasis of the swinging is defined,system dynamics model and the physical model of the hoist swing are constructed. The anti-swinging system of crane is composed of fuzzy algorithm and PID( proportion,integral,derivative) control,which can monitor the rocking situation of large and small vehicle and heavy object in real time and control unreasonable situation effectively. Compared with common PID,simulation and experiment show that this method can make load stop quickly,reduce overshoot and have good robustness.
The anti-swing strategy of bridge crane is studied and analyzed in order to improve the working efficiency of the equipment,safe operation. By analysis and study of the movement and force of the big and small car and the lifting mechanism,control emphasis of the swinging is defined,system dynamics model and the physical model of the hoist swing are constructed. The anti-swinging system of crane is composed of fuzzy algorithm and PID( proportion,integral,derivative) control,which can monitor the rocking situation of large and small vehicle and heavy object in real time and control unreasonable situation effectively. Compared with common PID,simulation and experiment show that this method can make load stop quickly,reduce overshoot and have good robustness.
引文
1王广超.起重机主动防摇控制策略研究.成都:西南交通大学,2012Wang Guangchao.The study on the strategy of active anti-sway control for cranes.Chengdu:Southwest Jiaotong University,2012
2 施登亮.基于神经网络-混合进化算法的桥式起重机的防摇摆控制.数学的实践与认识,2015;45(22):159—167Shi Dengliang.Anti-swing control for overhead cranes uesing neural networks-hybrid evolutionary algorithm.Mathematics in Practice and Theory,2015;45(22):159—167
3 朱珏.船舶液压起重机基于延迟反馈控制的吊重消摆.船舶工程,2017;39(1):68—72,81Zhu Jue.Anti-swing of the cargo based on time delay feedback for marine hydraulic crane.Ship Engineering,2017;39(1):68—72,81
4 韩广冬,张桐,陈海泉,等.船用起重机减摇装置建模与试验.科学技术与工程,2017;17(23):305—310Han Guangdong,Zhang tong,Chen Haiquan,et al.Anti-swing device modelling and experiment of shi-mounted crane.Science Technology and Engineering.2017;17(23):305—310
5 杨斌,刘惠康,代文蕤.桥式起重机精确定位及防摆控制器设计.计算机测量与控制,2014;22(8):2451—2454Yang Bin,Liu Huikang,Dai Wenrui.Overhead cran's accurately fixing position and anti-sway controller's design.Measurement and Control of Computer,2014;22(8):2451—2454
6 朱笑花,王宁.cRNA布谷鸟搜索算法的桥式吊车PID控制.浙江大学学报(工学版),2017;51(7):1397—1404Zhu Xiaohua,Wang Ning.cRNA cuckoo search algorithm with RNA crossover operation for PID control.Journal of Zhejiang University(Engineering Edition),2017;51(7):1397—1404
7 付子义,袁海国.桥式起重机定位及防摆的最优迭代控制.计算机仿真,2015;32(12):337—340,381Fu Ziyi,Yuan Haiguo.Position tracking and anti-swing for bridge crane based on optimal iterative learning control.Computer Simulation,2015;32(12):337—340,381
8 强宝民,吴侠,王江,等.起重机加速起吊重物瞬态动力学分析与实验.科学技术与工程,2017;17(7):157—162Qiang Baomin,Wu Xia,Wang Jiang,et al.Transient dynamic analysis and experiment of crane acceleration lifting heavy.Science Technology and Engineering,2017;17(7):157—162
9 郝丽娜,聂鑫,张伟,等.多塔机智能安全监控系统的研究与实现.科学技术与工程,2016;16(30):73—78Hao Li'na,Nie Xin,Zhang Wei,et al.Research and implementation of an intelligent security monitoring system for tower cranes.Science Technology and Engineering,2016;16(30):73—78
10 满斌.桥式起重机监控管理及防摆控制系统的研究.天津:天津理工大学,2015Man Bin.The research of bridge crane monitoring management and anti-swing control system.Tianjin:Tianjin University of Technology,2015
2 施登亮.基于神经网络-混合进化算法的桥式起重机的防摇摆控制.数学的实践与认识,2015;45(22):159—167Shi Dengliang.Anti-swing control for overhead cranes uesing neural networks-hybrid evolutionary algorithm.Mathematics in Practice and Theory,2015;45(22):159—167
3 朱珏.船舶液压起重机基于延迟反馈控制的吊重消摆.船舶工程,2017;39(1):68—72,81Zhu Jue.Anti-swing of the cargo based on time delay feedback for marine hydraulic crane.Ship Engineering,2017;39(1):68—72,81
4 韩广冬,张桐,陈海泉,等.船用起重机减摇装置建模与试验.科学技术与工程,2017;17(23):305—310Han Guangdong,Zhang tong,Chen Haiquan,et al.Anti-swing device modelling and experiment of shi-mounted crane.Science Technology and Engineering.2017;17(23):305—310
5 杨斌,刘惠康,代文蕤.桥式起重机精确定位及防摆控制器设计.计算机测量与控制,2014;22(8):2451—2454Yang Bin,Liu Huikang,Dai Wenrui.Overhead cran's accurately fixing position and anti-sway controller's design.Measurement and Control of Computer,2014;22(8):2451—2454
6 朱笑花,王宁.cRNA布谷鸟搜索算法的桥式吊车PID控制.浙江大学学报(工学版),2017;51(7):1397—1404Zhu Xiaohua,Wang Ning.cRNA cuckoo search algorithm with RNA crossover operation for PID control.Journal of Zhejiang University(Engineering Edition),2017;51(7):1397—1404
7 付子义,袁海国.桥式起重机定位及防摆的最优迭代控制.计算机仿真,2015;32(12):337—340,381Fu Ziyi,Yuan Haiguo.Position tracking and anti-swing for bridge crane based on optimal iterative learning control.Computer Simulation,2015;32(12):337—340,381
8 强宝民,吴侠,王江,等.起重机加速起吊重物瞬态动力学分析与实验.科学技术与工程,2017;17(7):157—162Qiang Baomin,Wu Xia,Wang Jiang,et al.Transient dynamic analysis and experiment of crane acceleration lifting heavy.Science Technology and Engineering,2017;17(7):157—162
9 郝丽娜,聂鑫,张伟,等.多塔机智能安全监控系统的研究与实现.科学技术与工程,2016;16(30):73—78Hao Li'na,Nie Xin,Zhang Wei,et al.Research and implementation of an intelligent security monitoring system for tower cranes.Science Technology and Engineering,2016;16(30):73—78
10 满斌.桥式起重机监控管理及防摆控制系统的研究.天津:天津理工大学,2015Man Bin.The research of bridge crane monitoring management and anti-swing control system.Tianjin:Tianjin University of Technology,2015