桥式起重机轨迹规划的方法研究
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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.
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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[13]Nguyen Quang Hoang,Soon-Geul Lee,Hyung Kim,et at.Trajectory planning for overhead crane by trolley acceleration shaping[J].Journal of Mechanical Science and Technology(S1738-494X),2014,28(7):1-10.
[14]Zhou Wu,Xiaohua Xia.Energy Eefficiency of Overhead Cranes[C].19th World Congress the International Federation of Automatic Control,2014:24-29.
[15]Xin Xin,Yannian Liu.Trajectory Tracking control of variable length pendulum by partial energy shaping[J].Communications in Nonlinear Science and Numerical Simulation(S1007-5704),2014,19(5):1544-1556.
[16]Liu D,Yi J,Zhao D,et al.Adaptive sliding mode fuzzy control for a two-dimensional overhead crane[J].Mechatronics(S0957-4158),2005,15(5):505-522.
[17]Khalil H K.Nonlinear Systems[M].3d ed.New Jersey:Prentce-Hall,2002.
[2]Jeslin Thalapil.Input Shaping for Sway Control in Gantry Cranes[J].IOSR Journal of Mechancal and Civil Engineering(S2278-1684),2012,1(2):36-46.
[3]Tuan L A,Kim G H,Kim M Y,et al.Partial feedback linearization control of overhead cranes with varying cable lengths[J].International Journal of Precision Engineering and Manufacturing(S2005-4602),2012,13(4):501-507.
[4]Lee H H,Liang Y,Segura D.A sliding mode antiswing trajectory control for overhead cranes with high speed load hoisting[J].Journal of Dynamic Systems Measurement and Control(S1079-2724),2006,128(4):842-845.
[5]Hua Y J,Shine Y K.Adaptive coupling control for overhead crane systems[J].Mechatronics(S0957-4158),2007,17(2/3):143-152.
[6]Chang C,Chiang T.Overhead cranes fuzzy control design with deadzone compensation[J].Neural Comput&Applic(S0941-0643),2009,18(7):749-757.
[7]Solihin M I,Wahyudi,Legowo A.Fuzzy-tuned PIDanti-swing control of automatic gantry crane[J].Journal of Vibration and Control(S1077-5463),2010,16(1):127-145.
[8]Chang C.Adaptive fuzzy controller of the overhead cranes with nonlinear disturbance[J].IEEE Transactions Industrial Informatics(S1551-3203),2007,3(2):164-172.
[9]Lee H H.A new approach for the anti-swing control of overhead cranes with high-speed load hoisting[J].International Journal of Control(S0020-7179),2003,76(15):1493-1499.
[10]Sun N,Fang Y,Zhang X,et al.A novel kinematic coupling-based trajectory planning method for overhead cranes[J].IEEE/ASME Transactions on Mechatronics(S1083-4435),2012,17(1):166-173.
[11]Sun N,Fang Y,Zhang X,et al.Transportation task-oriented trajectory planning for underactuated overhead cranes using geometric analysis[J].IETControl Theory(S1751-8644),2012,6(4):1410-1423.
[12]Sun N,Fang Y,Zhang X,et al.An efficient online trajectory generating method for underactuated crane systems[J].International Journal of Robust Nonlinear Control(S1049-8923),2014,24(11):1653-1663.
[13]Nguyen Quang Hoang,Soon-Geul Lee,Hyung Kim,et at.Trajectory planning for overhead crane by trolley acceleration shaping[J].Journal of Mechanical Science and Technology(S1738-494X),2014,28(7):1-10.
[14]Zhou Wu,Xiaohua Xia.Energy Eefficiency of Overhead Cranes[C].19th World Congress the International Federation of Automatic Control,2014:24-29.
[15]Xin Xin,Yannian Liu.Trajectory Tracking control of variable length pendulum by partial energy shaping[J].Communications in Nonlinear Science and Numerical Simulation(S1007-5704),2014,19(5):1544-1556.
[16]Liu D,Yi J,Zhao D,et al.Adaptive sliding mode fuzzy control for a two-dimensional overhead crane[J].Mechatronics(S0957-4158),2005,15(5):505-522.
[17]Khalil H K.Nonlinear Systems[M].3d ed.New Jersey:Prentce-Hall,2002.