摘要
针对桥式起重机小车能以光滑的加速度平稳运行问题,在考虑起重机自身约束条件和小车与轨道间摩擦的基础上,提出了一条多项式加速度轨迹。利用小车运动和负载摆角之间的动态耦合关系,设计了一个消摆环节。结果表明:当绳长改变时,小车摆角依旧在约束的范围内。通过构造李雅普诺夫能量方程证明了系统稳定性并利用Barbalat引理证明了所规划的参考轨迹够使小车运动收敛至目标位置且能够消除小车负载摆动。在Matlab环境下建模并仿真,验证了所规划参考轨迹的合理性及优越性。
To make the trolley of bridge crane move stably with smooth acceleration, a polynomial acceleration trajectory is proposed based on the constraint conditions of the crane and the friction between the trolley and the rail. An anti-swing plan is designed employing the dynamic coupling relationship between the motion of the trolley and the load swing. Results indicate that when the length of the rope is changed, the swing angle of the trolley is still within the limits. The stability of the system is proved by constructing Lyapunov energy equations, and the Barbalat lemma confirms that the planned reference trajectory can make the trolley motion converge to the target position and eliminate the swing.The rationality and superiority of the planned reference trajectory are verified by modeling and simulation in Matlab environment.
引文
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