起重机消摆控制器的研制
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摘要
起重机是目前最主要起吊搬运设备之一,大量应用于建筑业、制造业以及港口运输业。消除起重机载荷的摆动,可以有效的提高工作效率,对我国的起重机械的发展是非常有意义的。
起重机载荷摆振主要是由载荷的水平运动引起的。载荷摆振的存在限制了起重机的水平运行速度、延长了起重机的辅助工作时间、降低了起重机的载荷就位精度、给起重机机身造成了周期性载荷,生产效率比较低。这在大中型高速起重机的应用中尤为突出。研究载荷摆振的特征,建立起重机水平运动的载荷三维摆振模型,探索起重机消摆控制规律,对系统模型进行分析综合,提出一种起重机的最优消摆算法,研制一种以此理论为基础的起重机消摆操作器,迫在眉睫。该操作器由起重机司机操作,将消摆和小车的水平运行控制结合起来,不依赖于司机的操作经验使载荷迅速、准确定位,以进一步提高起重机的工作效率和自动化程度。
载荷水平运动引起的起重机载荷摆振是确定性的,可以事先唯一地求出。可由此设计出一种最优控制器,按照二次型最优消摆规律消除载荷摆振。
本文提出了一种消摆控制方法,这种方法是开环的,不需要角度传感器或角加速度传感器,降低了消摆控制系统的造价,提高了可靠性。这种方法只能消除确定性扰动造成的载荷摆振,对随机干扰造成的摆振无效。在工程上起重机的载荷摆振基本上都是由载荷水平运动引起的,所以这种控制方法既简便,同时又具有很强的实用性。
Crane is one of the frequently used carrying equipment. Its mass use is in the architecture, manufacturing and port transportation. To suppress the load sway is of great benefit to enhance the working efficiency. And it is very important to the progress of our country’s lifting appliances.
Crane’s horizontal motion is the main reason to rise the load sway. The existence of load sway suppressed the crab’s horizontal motion speed, prolonged the crane assistant operation time, reduced the load halting precision, resulted in a large periodical load to the crane, thence the crane work efficiency is lowed. It is more distinctly in the application of good-sized and medium-sized high-speeded cranes. It is urgency to design load sway characteristics, construct the three-dimensional sway model of crane horizontal motion, research crane anti-sway arithmetic, execute the analyse and synthesis of crane model, put forward an optimal anti-sway arithmetic and design an anti-sway crane controller based on the above theories. The crane controller combine the anti-sway with crab horizontal motion and it is independent of crane driver’s operational experience. The controller can make the load halted rapidly and accurately which enhanced the crane’s work efficiency and automation degree.
For this kind of motions is determinate, it is feasible to be worked out uniquely in advance and design an optimal controller to suppress the load sway according to the quadratic optimal law. We proposed arithmetic to suppress the load sway. The method is open-looped, it have no use for angle and angle-acceleration transducer, which reduced the cost of the anti-sway control system and promoted system’s dependability. Such method can but suppress the load sway generated by determinate disturbance, and is of no effect on random disturbance. The method is very simple and convenient but with great practicality for in engineering the crane load sway is mainly generated by horizontal motions.
起重机载荷摆振主要是由载荷的水平运动引起的。载荷摆振的存在限制了起重机的水平运行速度、延长了起重机的辅助工作时间、降低了起重机的载荷就位精度、给起重机机身造成了周期性载荷,生产效率比较低。这在大中型高速起重机的应用中尤为突出。研究载荷摆振的特征,建立起重机水平运动的载荷三维摆振模型,探索起重机消摆控制规律,对系统模型进行分析综合,提出一种起重机的最优消摆算法,研制一种以此理论为基础的起重机消摆操作器,迫在眉睫。该操作器由起重机司机操作,将消摆和小车的水平运行控制结合起来,不依赖于司机的操作经验使载荷迅速、准确定位,以进一步提高起重机的工作效率和自动化程度。
载荷水平运动引起的起重机载荷摆振是确定性的,可以事先唯一地求出。可由此设计出一种最优控制器,按照二次型最优消摆规律消除载荷摆振。
本文提出了一种消摆控制方法,这种方法是开环的,不需要角度传感器或角加速度传感器,降低了消摆控制系统的造价,提高了可靠性。这种方法只能消除确定性扰动造成的载荷摆振,对随机干扰造成的摆振无效。在工程上起重机的载荷摆振基本上都是由载荷水平运动引起的,所以这种控制方法既简便,同时又具有很强的实用性。
Crane is one of the frequently used carrying equipment. Its mass use is in the architecture, manufacturing and port transportation. To suppress the load sway is of great benefit to enhance the working efficiency. And it is very important to the progress of our country’s lifting appliances.
Crane’s horizontal motion is the main reason to rise the load sway. The existence of load sway suppressed the crab’s horizontal motion speed, prolonged the crane assistant operation time, reduced the load halting precision, resulted in a large periodical load to the crane, thence the crane work efficiency is lowed. It is more distinctly in the application of good-sized and medium-sized high-speeded cranes. It is urgency to design load sway characteristics, construct the three-dimensional sway model of crane horizontal motion, research crane anti-sway arithmetic, execute the analyse and synthesis of crane model, put forward an optimal anti-sway arithmetic and design an anti-sway crane controller based on the above theories. The crane controller combine the anti-sway with crab horizontal motion and it is independent of crane driver’s operational experience. The controller can make the load halted rapidly and accurately which enhanced the crane’s work efficiency and automation degree.
For this kind of motions is determinate, it is feasible to be worked out uniquely in advance and design an optimal controller to suppress the load sway according to the quadratic optimal law. We proposed arithmetic to suppress the load sway. The method is open-looped, it have no use for angle and angle-acceleration transducer, which reduced the cost of the anti-sway control system and promoted system’s dependability. Such method can but suppress the load sway generated by determinate disturbance, and is of no effect on random disturbance. The method is very simple and convenient but with great practicality for in engineering the crane load sway is mainly generated by horizontal motions.
引文
[1] C.L.Teo、C.J.Ong、M.Xu, PULSE INPUT SEQUENCES FOR RESIDUAL VIBRATION REDUCTION, Journal of Sound and Vibration.1998,211(2).157-177
[2] William Singhose、Lisa Porter, Effects of hoisting on the input shaping control of gantry cranes ,Control engineering practice,2000,8(10),1159-1165
[3] 梁春燕、贾青、谢剑英,提升起重机的实滞滤波消摆控制,应用科学学报,第19卷第2期,157-160
[4] 易建强、王伟、赵东斌、刘殿通,基于滑模方法的桥式吊车系统的抗摆控制,控制与决策,第 19 卷第 9 期,1013-1016
[5] A. Cavallo、G.De Maria、R.Setola,A sliding manifold approach for vibration reduction of flexible systems,Automatica 35 (1999) 1689}1696
[6] Z.Mohamed、M.O.Tokhi,Command Shaping techniques for vibration control of a flexible robot manipulator,Mechatronics 14 (2004) 69–90
[7] Glossiotis G.、Antoniadis I., Payload sway suppression in rotary cranes by digital filtering of the commanded inputs , Proceedings of the Institution of Mechanical Engineers,Part K. Journal of multi-body dynamics,2003,217(2),99-109
[8] Lucy Y.Pao,Multi-input shaping design for vibration reduction,automatica 35(1999) 81-89
[9]K.A.F. Moustafa、T.G. Abou-El-Yazid, Load sway control of overhead cranes with load hoisting via stability analysis,JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing.1996,39(1).34-40
[10]Tanaka, Shogo、Kouno、Susumu、Automatic measurement and control of the attitude of crane lifters. Lifter- attitude measurement and control, Control Engineering Practice 1998,6(9) 1099-1107
[11] Nguyen, H.T.,State-variable feedback controller for an overhead crane, Journal of Electrical and Electronics Engineering, Australia 1994,14(2) 75-84
[12] Lee, Ho-Hoon, Modeling and control of a three-dimensional overhead crane Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME.1998,120(4).471-476
[13] Ho-Hoon Lee , A new approach for the anti-swing control of overhead cranes with high-speed load hoisting, International Journal of Control 2003,76(15) 1493-1499
[14] D.C.D.Oguamanam、J.S.Hanson, Dynamics of a three-dimensional overhead crane system, Journal of Sound and Vibration 2001,242(3),411-426
[15] M. Saigo, K. Tani, and H. Usui, Vibration Control of a Traveling Suspended System Using Wave Absorbing Control , Journal of Vibration and Acoustics 2003,125(3) 343-350
[16] A.M. Formal’skii,Stabilizing position of the overhead crane with the weight suspended on a flexible cable, Automation and remote control, Vol.61,No.9,part1,2000,pp.1413-1423
[17]李伟,塔式起重机载荷摆振模型,机械工程学报,vol29.4 1993
[18]李伟等,科里奥利力对机械摆摆振的影响,山东建筑工程学院学报, 第 13 卷 98 年第四期总第 47 期,45-49
[19]李伟、吕景惠,起重机线性二次型最优消摆控制,电气传动,第 33 卷 2003 年第 2期总第 172 期,21-24
[20]张桂青、李伟,绳长对起重机载荷消摆的影响,山东建筑工程学院学报,第 13 卷98 年第三期总第 46 期 57-60
[21]李伟、张桂青、陈鹏,基于时间最优的起重机消摆控制策略,山东工业大学学报,第 28 卷 1998 年第 2 期,107-111
[22]李伟,起重机载荷摆振模型的简化条件及误差,山东建筑工程学院学报,第 13 卷98 年第二期总第 45 期,59-64
[23]李伟,起重机最优消摆对策,山东建筑工程学院学报,第 13 卷 98 年第三期,41-46
[24]李伟、何淑娟、李萍,科研和实验用起重机的研究,山东建筑工程学院学报,第 17卷 2002 年第 2 期,61-65
[25]Hanafy M.Omara,Ali H.Nayfehb, Gantry cranes gain scheduling feedback control with friction compensation,Jurnal of sound and vibration,281(2005),1-20
[26]D. C. D. Oguamanam、J. S.Hansen、G.R.Heppler, Dynamic response of an overhead crane system, Journal of Sound and Vibration, 1998,213(5),889-906
[27]Akihito Otani、Keisuke Nagashima、Junya Suzuki, Vertical seismic response of overhead crane,Nuclear Engineering and Design,2002,212(1-3),211-220
[28]Karkoub, M.A.、Zribi M., Modelling and energy based nonlinear control of crane lifters , IEE Proceedings - Control Theory and Applications,2002,149(3),209-216
[29]Yi JQ.、Yubazaki N.、Hirota K., Anti-swing and positioning control of overhead traveling crane , Information Sciences.2003,155(1-2),19-42
[30]J.Ben KLAASSENS 、 Ger HONDERD,Time-Optimal Trajectory Controller for Container Cranes using Model-Based Predictive Control, Journal A.,2000,41(1),25-30
[31] G.S.Hu、C.J.Ong、C.L.Teo, Minimum-Time Control of a Crane with Simultaneous Traverse and Hoisting Motions,Journal of Optimization Theory and Applications,2004,120(2),395-416
[32]Piazzi A.、Visioli A., Optimal dynamic-inversion-based control of an overhead crane,IEE Proceedings - Control Theory and Applications,2002,149(5),405-411
[33]Bourdache-Siguerdidjane H.,Optimal control of a container crane by Fliss linearization ,Journal of Computer and Systems Sciences International,1995, 33(5),81-88
[34]Sung-Kun Cho,Ho-Hoon Lee, A fuzzy-logic antiswing controller for three-dimensional over head cranes , Isa Transactions,2002,41(2),235-243
[35] 易建强、刘殿通、谭民,适于长距离运输的分段吊车模糊控制,控制理论与应用,第 20 卷第 6 期,908-912
[36]G.Fenga、S.G.Caoa, N.W.Reesb,Stable adaptive control of fuzzy dynamicsystems,Fuzzy Sets and Systems 131 (2002),217 – 224
[37]A.Benhidjeb、G.L.Gissinger, Fuzzy control of an overhead crane performance comparison with classic control, Control Eng. Practice,Vol.3 No.12,1995, pp1687-1696
[38]Giorgio Bartolini、 Alessandro Pisano、Elio Usai,Second-order sliding-mode control of container cranes,Automatica 38 (2002) 1783-1790
[39]王晓军、邵惠鹤,基于模糊的桥式起重机的定位和防摆控制研究,系统仿真学报,Vol.17 No.4,936-939
[40]Diantong Liu、Jianqiang Yi,Adaptive sliding mode fuzzy control for a two-dimensional overhead crane,Mechatronics 15 (2005) 505–522
[41]Tian-Ping Zhang,Chun-Bo Feng,Decentralized adaptive fuzzy control for large-scale nonlinear systems,Fuzzy Sets and Systems,92(1997),61-70
[42]Chaio-Shiung Chen,Design of stable fuzzy control systems using Lyapunov’s method in fuzzy hypercubes, Fuzzy Sets and Systems,139 (2003),95–110
[43]L.Moreno、L.Acosta, A self-tuning neuromorphic controller application to the crane problem,Control Engeering Practice 6(1998),1475-1483
[44] Bogdan Filipic、Tanja Urbanc、Viljem Kriz mana, A combined machine learning and genetic algorithm approach to controller design,Engineering Applications of Artificial Intelligence,12(1999),401-409
[2] William Singhose、Lisa Porter, Effects of hoisting on the input shaping control of gantry cranes ,Control engineering practice,2000,8(10),1159-1165
[3] 梁春燕、贾青、谢剑英,提升起重机的实滞滤波消摆控制,应用科学学报,第19卷第2期,157-160
[4] 易建强、王伟、赵东斌、刘殿通,基于滑模方法的桥式吊车系统的抗摆控制,控制与决策,第 19 卷第 9 期,1013-1016
[5] A. Cavallo、G.De Maria、R.Setola,A sliding manifold approach for vibration reduction of flexible systems,Automatica 35 (1999) 1689}1696
[6] Z.Mohamed、M.O.Tokhi,Command Shaping techniques for vibration control of a flexible robot manipulator,Mechatronics 14 (2004) 69–90
[7] Glossiotis G.、Antoniadis I., Payload sway suppression in rotary cranes by digital filtering of the commanded inputs , Proceedings of the Institution of Mechanical Engineers,Part K. Journal of multi-body dynamics,2003,217(2),99-109
[8] Lucy Y.Pao,Multi-input shaping design for vibration reduction,automatica 35(1999) 81-89
[9]K.A.F. Moustafa、T.G. Abou-El-Yazid, Load sway control of overhead cranes with load hoisting via stability analysis,JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing.1996,39(1).34-40
[10]Tanaka, Shogo、Kouno、Susumu、Automatic measurement and control of the attitude of crane lifters. Lifter- attitude measurement and control, Control Engineering Practice 1998,6(9) 1099-1107
[11] Nguyen, H.T.,State-variable feedback controller for an overhead crane, Journal of Electrical and Electronics Engineering, Australia 1994,14(2) 75-84
[12] Lee, Ho-Hoon, Modeling and control of a three-dimensional overhead crane Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME.1998,120(4).471-476
[13] Ho-Hoon Lee , A new approach for the anti-swing control of overhead cranes with high-speed load hoisting, International Journal of Control 2003,76(15) 1493-1499
[14] D.C.D.Oguamanam、J.S.Hanson, Dynamics of a three-dimensional overhead crane system, Journal of Sound and Vibration 2001,242(3),411-426
[15] M. Saigo, K. Tani, and H. Usui, Vibration Control of a Traveling Suspended System Using Wave Absorbing Control , Journal of Vibration and Acoustics 2003,125(3) 343-350
[16] A.M. Formal’skii,Stabilizing position of the overhead crane with the weight suspended on a flexible cable, Automation and remote control, Vol.61,No.9,part1,2000,pp.1413-1423
[17]李伟,塔式起重机载荷摆振模型,机械工程学报,vol29.4 1993
[18]李伟等,科里奥利力对机械摆摆振的影响,山东建筑工程学院学报, 第 13 卷 98 年第四期总第 47 期,45-49
[19]李伟、吕景惠,起重机线性二次型最优消摆控制,电气传动,第 33 卷 2003 年第 2期总第 172 期,21-24
[20]张桂青、李伟,绳长对起重机载荷消摆的影响,山东建筑工程学院学报,第 13 卷98 年第三期总第 46 期 57-60
[21]李伟、张桂青、陈鹏,基于时间最优的起重机消摆控制策略,山东工业大学学报,第 28 卷 1998 年第 2 期,107-111
[22]李伟,起重机载荷摆振模型的简化条件及误差,山东建筑工程学院学报,第 13 卷98 年第二期总第 45 期,59-64
[23]李伟,起重机最优消摆对策,山东建筑工程学院学报,第 13 卷 98 年第三期,41-46
[24]李伟、何淑娟、李萍,科研和实验用起重机的研究,山东建筑工程学院学报,第 17卷 2002 年第 2 期,61-65
[25]Hanafy M.Omara,Ali H.Nayfehb, Gantry cranes gain scheduling feedback control with friction compensation,Jurnal of sound and vibration,281(2005),1-20
[26]D. C. D. Oguamanam、J. S.Hansen、G.R.Heppler, Dynamic response of an overhead crane system, Journal of Sound and Vibration, 1998,213(5),889-906
[27]Akihito Otani、Keisuke Nagashima、Junya Suzuki, Vertical seismic response of overhead crane,Nuclear Engineering and Design,2002,212(1-3),211-220
[28]Karkoub, M.A.、Zribi M., Modelling and energy based nonlinear control of crane lifters , IEE Proceedings - Control Theory and Applications,2002,149(3),209-216
[29]Yi JQ.、Yubazaki N.、Hirota K., Anti-swing and positioning control of overhead traveling crane , Information Sciences.2003,155(1-2),19-42
[30]J.Ben KLAASSENS 、 Ger HONDERD,Time-Optimal Trajectory Controller for Container Cranes using Model-Based Predictive Control, Journal A.,2000,41(1),25-30
[31] G.S.Hu、C.J.Ong、C.L.Teo, Minimum-Time Control of a Crane with Simultaneous Traverse and Hoisting Motions,Journal of Optimization Theory and Applications,2004,120(2),395-416
[32]Piazzi A.、Visioli A., Optimal dynamic-inversion-based control of an overhead crane,IEE Proceedings - Control Theory and Applications,2002,149(5),405-411
[33]Bourdache-Siguerdidjane H.,Optimal control of a container crane by Fliss linearization ,Journal of Computer and Systems Sciences International,1995, 33(5),81-88
[34]Sung-Kun Cho,Ho-Hoon Lee, A fuzzy-logic antiswing controller for three-dimensional over head cranes , Isa Transactions,2002,41(2),235-243
[35] 易建强、刘殿通、谭民,适于长距离运输的分段吊车模糊控制,控制理论与应用,第 20 卷第 6 期,908-912
[36]G.Fenga、S.G.Caoa, N.W.Reesb,Stable adaptive control of fuzzy dynamicsystems,Fuzzy Sets and Systems 131 (2002),217 – 224
[37]A.Benhidjeb、G.L.Gissinger, Fuzzy control of an overhead crane performance comparison with classic control, Control Eng. Practice,Vol.3 No.12,1995, pp1687-1696
[38]Giorgio Bartolini、 Alessandro Pisano、Elio Usai,Second-order sliding-mode control of container cranes,Automatica 38 (2002) 1783-1790
[39]王晓军、邵惠鹤,基于模糊的桥式起重机的定位和防摆控制研究,系统仿真学报,Vol.17 No.4,936-939
[40]Diantong Liu、Jianqiang Yi,Adaptive sliding mode fuzzy control for a two-dimensional overhead crane,Mechatronics 15 (2005) 505–522
[41]Tian-Ping Zhang,Chun-Bo Feng,Decentralized adaptive fuzzy control for large-scale nonlinear systems,Fuzzy Sets and Systems,92(1997),61-70
[42]Chaio-Shiung Chen,Design of stable fuzzy control systems using Lyapunov’s method in fuzzy hypercubes, Fuzzy Sets and Systems,139 (2003),95–110
[43]L.Moreno、L.Acosta, A self-tuning neuromorphic controller application to the crane problem,Control Engeering Practice 6(1998),1475-1483
[44] Bogdan Filipic、Tanja Urbanc、Viljem Kriz mana, A combined machine learning and genetic algorithm approach to controller design,Engineering Applications of Artificial Intelligence,12(1999),401-409