智能行车系统防摇控制
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摘要
行车是大型工业领域的重要设备。随着生产效率不断提高,行车设计大型化、高速化的要求,现场对行车的技术参数和自动化水平要去越来越高。高速运行的行车所带来的摇摆是工业现场的极大隐患,因此设计一种智能防摇控制系统可以大大的改善现场的工作环境,减轻司机的工作强度。
本文依托于变频调速器和可编程逻辑控制器(PLC)技术,可以有效的把智能控制方法应用于控制现场。本文的第一部分把智能行车分为了清晰的几层,系统研究了位置传感器和图像传感器的工作原理,分析了控制层的控制流程,并阐述了其PLC实现,描述了硬件条件上比一般的电子机械系统拥有一定的优势。
本文研究了对行车系统的运动过程进行了运动分析,通过细致的理论分析,建立了运动系统的数学模型和状态方程,并对行车水平运动和摆动运动进行了运动分析,以Bang-Bang控制的原理分析了最优解的情况。进而通过借鉴对几种速度变换模型的比较,提出了“固定步长速度变换模式”法实现行车自动控制的方案。
本文还介绍了模糊控制和模糊神经网络控制方法。针对行车的运动特征,提出了模糊控制器的设计原则和设计方法。通过运动状态方程中位置和摆动变量的读取输入,分别设计水平、摆动两个系统的控制系统,选取了适合行车系统的模糊控制规则和隶属函数,并提出了神经学习的模糊神经网络控制器的设计方法。
Travelling crane is an important equipment of Industry field. With the development of efficient and the demand of lager scale and higher velocity, the travelling crane needs to be more intelligent with high technology. The sway induced by the high speed travelling crane is great hazard to the industry filed, so we should design an intelligent anti-sway control system of travelling crane to improve the working environment and reduce the working intension.
The system is based on frequency conversion velometer and PLC. This paper analyses the construct of the system, and introduces the working theory of position and graphic sensors. By describe the control procedure of the control level and the PLC, the paper purposes that this control system has great advantage.
This paper anlyses the movement motion of the model of the travelling crane system. According to the motion, this paper establishes the mathematics model and status formula. This paper discusses the situation of optimization results about horizontal moving and sway moving with Bang-Bang control theory. By comparing four velocity pattern, this paper choose the stepped velocity pattern to develop the anti-sway control scheme.
The next part introduce the fuzzy control and fuzzy-neruon control methods. With the analysis of moving characters, this part confirm the principles and methods of fuzzy controller. By concerning of all the variables, this paper designs two control system for the position and sway moving, establishes the fuzzy control rules and membership functions.
And then, the paper brings out the fuzzy neural network model by the good ability of neural network’s self-study.
本文依托于变频调速器和可编程逻辑控制器(PLC)技术,可以有效的把智能控制方法应用于控制现场。本文的第一部分把智能行车分为了清晰的几层,系统研究了位置传感器和图像传感器的工作原理,分析了控制层的控制流程,并阐述了其PLC实现,描述了硬件条件上比一般的电子机械系统拥有一定的优势。
本文研究了对行车系统的运动过程进行了运动分析,通过细致的理论分析,建立了运动系统的数学模型和状态方程,并对行车水平运动和摆动运动进行了运动分析,以Bang-Bang控制的原理分析了最优解的情况。进而通过借鉴对几种速度变换模型的比较,提出了“固定步长速度变换模式”法实现行车自动控制的方案。
本文还介绍了模糊控制和模糊神经网络控制方法。针对行车的运动特征,提出了模糊控制器的设计原则和设计方法。通过运动状态方程中位置和摆动变量的读取输入,分别设计水平、摆动两个系统的控制系统,选取了适合行车系统的模糊控制规则和隶属函数,并提出了神经学习的模糊神经网络控制器的设计方法。
Travelling crane is an important equipment of Industry field. With the development of efficient and the demand of lager scale and higher velocity, the travelling crane needs to be more intelligent with high technology. The sway induced by the high speed travelling crane is great hazard to the industry filed, so we should design an intelligent anti-sway control system of travelling crane to improve the working environment and reduce the working intension.
The system is based on frequency conversion velometer and PLC. This paper analyses the construct of the system, and introduces the working theory of position and graphic sensors. By describe the control procedure of the control level and the PLC, the paper purposes that this control system has great advantage.
This paper anlyses the movement motion of the model of the travelling crane system. According to the motion, this paper establishes the mathematics model and status formula. This paper discusses the situation of optimization results about horizontal moving and sway moving with Bang-Bang control theory. By comparing four velocity pattern, this paper choose the stepped velocity pattern to develop the anti-sway control scheme.
The next part introduce the fuzzy control and fuzzy-neruon control methods. With the analysis of moving characters, this part confirm the principles and methods of fuzzy controller. By concerning of all the variables, this paper designs two control system for the position and sway moving, establishes the fuzzy control rules and membership functions.
And then, the paper brings out the fuzzy neural network model by the good ability of neural network’s self-study.
引文
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[4]曹建海(2003)."桥式起重机的电子防摇系统."港口机械[4]符敦鉴.高新技术在集装箱机械上的开发和应用.中国港口 4.
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[12]顾迪民 and 张广春(1992)."塔式起重机智能控制系统数学模型的建立与分析."哈尔滨建筑工程学院学报 25(003):61-68.
[13]林贵瑜,杨新顺,et al.(2006)."塔式起重机吊装物摆动的控制."建筑机械化 27(011):34-36.
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[15]李伟,张桂青(1998)."基于时间最优的起重机消摆控制策略."山东工业大学学报 28(002): 107-111.
[16]邹军,陈志坚(1998)."桥式起重机水平运行及抓斗摆动规律研究."山东大学学报:自然科学版 33(4).
[17]梁春燕,谢剑英(2000)."桥式起重机抓斗防摆控制方法研究."测控技术 19(006):24-26.
[18]钱学清,张惠侨(1999)."抓斗起重机电子控摇系统模型的建立."起重运输机械(005):5-8.
[19]边岸(2005)."消除摆动."建设机械技术与管理 18(003):31-33.
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[21]Lee,H.H.(1998)."Modeling and control of a three-dimensional overhead crane."Journal of dynamic systems, measurement, and control 120(4):471-476.
[22]Choi,S.U., J.H.Kim, et al.(2001)."A study on gantry crane control using neural network two degree of PID controller." Industrial Electronics, 2001.Proceedings.ISIE2001.IEEE International Symposium on 3.
[23]Szpytko,J., Z.Drzyma?A, et al.(2002)."Operator–specialist crane system model."International Carpathian Control Conference (ICCC).
[24]Kim,Y.S., H.S.Seo, et al."A new anti-sway control scheme for trolley crane system."Industry Applications Conference,2001.Thirty-Sixth IAS Annual Meeting.Conference Record of the 2001 IEEE1.
[25]Hong,K.S., S.H.Sohn, et al.(1997)."Sway Control of a Container Crane (PartI):Modeling, Control Strategy, Error Feedback Control via Reference Velocity Profiles."Journal of Control, Automation, and Systems Engineering 3(1):23-31.
[26]Hong,K.S., S.C.Sohn, et al.(1997)."Sway control of a container crane (PartⅡ): regulation of the pendulum sway through patternizing trolley moving velocity."Journal of Control,Automation and Systems Engineering 3(2):132-138.
[27]骆德汉(2005).可编程控制器与现场总线网络控制,科学出版社.
[28]王勇,陈立新(2001)."智能化卸船机自动控制系统."港口装卸(003):22-23.
[29]张永丽(2001)."永磁起重吸盘的设计思路."起重运输机械(07).
[30]谢祖荣,吴明捷(2001)."永磁起重吸盘的设计思路."起重运输机械(007):11-13.
[31]毛君,刘佳,et al.(2006)."霍尔传感器及其在工业生产中的应用."煤矿机械 27(002):344-346.
[32]许振(2005)."交流电动机变频调速技术的发展."微特电机 33(004):39-43.
[33]汪建平,钱旺超(2003)."变频技术在桥式起重设备上的应用."能源工程(004):50-52.
[34]陈杰(2001)."可编程控制器在设备改造中的应用."精密制造与自动化(002):37-40.
[35]汪建平,钱旺超(2003)."变频技术在桥式起重设备上的应用."能源工程(004):50-52.
[36]邱公伟(2000).可编程控制器网络通信及应用,清华大学出版社.
[37]梁学敏(2004)."ABB 变频器的传动控制及与 S7--400 的通讯."微计算机信息20(003):68-69.
[38]熊肖磊(1996)."巷道堆垛起重机的认址方式与调速."起重运输机械(008):21-26.
[39]叶建标(2007)."集装箱起重机的时间最优控制."商品储运与养护(03).
[40]周勇,李勇智(2003)."利用 SIMULINK 对集装箱起重机防摇进行建模与仿真."港口装卸(001):13-15.
[41]Lee,Y.J. , K.S.Lee"Anti-Sway POSition Control Of an Automated Transfer Crane."
[42]Anabuki, M.,K.Shimada,etal.(2000)."An Anti-Sway Control of a Traveling Crane Using Variable Pole Assignment Based on Optimal Control." Proceedings of the School of Engineering of Tokai University 40(2):7-12.
[43]Hakamada, Y.,M.Nomura(1996). "Anti-sway and position control of crane system." Advanced Motion Control,1996.AMC'96-MIE.Proceedings.,1996 4th International Workshop on 2.
[44]Hong,K.S., J.H.Kim,etal.(1998). "Control of a container crane:fast traversing, and residual sway control from the perspective of controlling an underactuated system."American Control Conference,1998.Proceedings of the 1998 2.
[45]Hong,K.S., B.J.Park, et al.(2000). "Two-Stage Control for Container Cranes." JSME International Journal, Series C43(2):273-282.
[46]包起帆(2007)."集装箱自动无人堆场研究."港口科技(001):7-13.
[47]Nalley, M.J.(2000). "Control of overhead cranes using a fuzzy logic controller." Journal of Intelligent and Fuzzy Systems 8(1):1-18.
[48]李士勇(1996).模糊控制,哈尔滨:哈尔滨工业大学出版社.283.
[49]李士勇,Y.(1998).模糊控制·神经控制和智能控制论,哈尔滨工业大学出版社.
[50]齐开国(2002)."光学小波匹配滤波器与图形识别."物理(10).
[51]刘冬梅,沈君愉,et al.(2004)."小波变换在图像相关识别中的应用."激光技术 28(006): 641-644.
[52]王立新(2003).模糊系统与模糊控制教程,清华大学出版社.
[53]Suzuki,Y., S.I.Yamada, et al.(1993)."Anti-swing control of the container crane by fuzzy control." Industrial Electronics, Control, and Instrumentation, 1993.Proceedings of the IECON' 93.,International Conference on:230-235.
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[59]姚永刚,孙建友(2007). "基于模糊控制的桥式起重机抓斗的防摆控制研究."起重运输机械:08.
[60]Yasunobu,S.(1986)."Automatic Container Crane Operation Based on a Predictive Fuzzy Control."
[2]冀向华,叶庆泰(2002)."机电一体化技术在控摇系统中的应用与研究."机械设计与研究18(003):34-36.
[3]马莉丽,程文明,et al.(2006)."桥式起重机吊重减摇力控制方式的动态仿真."起重运输机械(012):59-62.
[4]曹建海(2003)."桥式起重机的电子防摇系统."港口机械[4]符敦鉴.高新技术在集装箱机械上的开发和应用.中国港口 4.
[5]李斌(2005)."桥式起重机的防摇问题及其分析与仿真."重庆交通学院学报 24(003):138-141.
[6]沈李建(1998)."集装箱装卸桥吊具电子防摇系统."港口装卸(006):9-10.
[7]黄凯,郑加强,et al.(2007)."起重机非线性摇摆系统的仿真和分析."起重运输机械(002):46-49.
[8]李维越(2007)."起重机常用防摇系统分析."起重運輸機械 2007(9):51-53.
[9]钟斌,程文明,et al.(2007)."起重机吊重智能防摇 CAN 控制系统的设计."起重运输机械:06.
[10]华克强(2000)."桥式吊车模糊防摆技术."中国民航学院学报 18(003):12-15.
[11]齐伯文(1995)."塔式起重机智能控制系统的最优反馈控制[J]."
[12]顾迪民 and 张广春(1992)."塔式起重机智能控制系统数学模型的建立与分析."哈尔滨建筑工程学院学报 25(003):61-68.
[13]林贵瑜,杨新顺,et al.(2006)."塔式起重机吊装物摆动的控制."建筑机械化 27(011):34-36.
[14]李伟 and 吕景惠(2003)."起重机线性二次型最优消摆控制."电气传动 33(002):21-24.
[15]李伟,张桂青(1998)."基于时间最优的起重机消摆控制策略."山东工业大学学报 28(002): 107-111.
[16]邹军,陈志坚(1998)."桥式起重机水平运行及抓斗摆动规律研究."山东大学学报:自然科学版 33(4).
[17]梁春燕,谢剑英(2000)."桥式起重机抓斗防摆控制方法研究."测控技术 19(006):24-26.
[18]钱学清,张惠侨(1999)."抓斗起重机电子控摇系统模型的建立."起重运输机械(005):5-8.
[19]边岸(2005)."消除摆动."建设机械技术与管理 18(003):31-33.
[20]Al-Garni,A.Z., K.A.F.Moustafa, et al.(1995)."Optimal control of overhead cranes."Control Engineering Practice 3(9):1277-1284.
[21]Lee,H.H.(1998)."Modeling and control of a three-dimensional overhead crane."Journal of dynamic systems, measurement, and control 120(4):471-476.
[22]Choi,S.U., J.H.Kim, et al.(2001)."A study on gantry crane control using neural network two degree of PID controller." Industrial Electronics, 2001.Proceedings.ISIE2001.IEEE International Symposium on 3.
[23]Szpytko,J., Z.Drzyma?A, et al.(2002)."Operator–specialist crane system model."International Carpathian Control Conference (ICCC).
[24]Kim,Y.S., H.S.Seo, et al."A new anti-sway control scheme for trolley crane system."Industry Applications Conference,2001.Thirty-Sixth IAS Annual Meeting.Conference Record of the 2001 IEEE1.
[25]Hong,K.S., S.H.Sohn, et al.(1997)."Sway Control of a Container Crane (PartI):Modeling, Control Strategy, Error Feedback Control via Reference Velocity Profiles."Journal of Control, Automation, and Systems Engineering 3(1):23-31.
[26]Hong,K.S., S.C.Sohn, et al.(1997)."Sway control of a container crane (PartⅡ): regulation of the pendulum sway through patternizing trolley moving velocity."Journal of Control,Automation and Systems Engineering 3(2):132-138.
[27]骆德汉(2005).可编程控制器与现场总线网络控制,科学出版社.
[28]王勇,陈立新(2001)."智能化卸船机自动控制系统."港口装卸(003):22-23.
[29]张永丽(2001)."永磁起重吸盘的设计思路."起重运输机械(07).
[30]谢祖荣,吴明捷(2001)."永磁起重吸盘的设计思路."起重运输机械(007):11-13.
[31]毛君,刘佳,et al.(2006)."霍尔传感器及其在工业生产中的应用."煤矿机械 27(002):344-346.
[32]许振(2005)."交流电动机变频调速技术的发展."微特电机 33(004):39-43.
[33]汪建平,钱旺超(2003)."变频技术在桥式起重设备上的应用."能源工程(004):50-52.
[34]陈杰(2001)."可编程控制器在设备改造中的应用."精密制造与自动化(002):37-40.
[35]汪建平,钱旺超(2003)."变频技术在桥式起重设备上的应用."能源工程(004):50-52.
[36]邱公伟(2000).可编程控制器网络通信及应用,清华大学出版社.
[37]梁学敏(2004)."ABB 变频器的传动控制及与 S7--400 的通讯."微计算机信息20(003):68-69.
[38]熊肖磊(1996)."巷道堆垛起重机的认址方式与调速."起重运输机械(008):21-26.
[39]叶建标(2007)."集装箱起重机的时间最优控制."商品储运与养护(03).
[40]周勇,李勇智(2003)."利用 SIMULINK 对集装箱起重机防摇进行建模与仿真."港口装卸(001):13-15.
[41]Lee,Y.J. , K.S.Lee"Anti-Sway POSition Control Of an Automated Transfer Crane."
[42]Anabuki, M.,K.Shimada,etal.(2000)."An Anti-Sway Control of a Traveling Crane Using Variable Pole Assignment Based on Optimal Control." Proceedings of the School of Engineering of Tokai University 40(2):7-12.
[43]Hakamada, Y.,M.Nomura(1996). "Anti-sway and position control of crane system." Advanced Motion Control,1996.AMC'96-MIE.Proceedings.,1996 4th International Workshop on 2.
[44]Hong,K.S., J.H.Kim,etal.(1998). "Control of a container crane:fast traversing, and residual sway control from the perspective of controlling an underactuated system."American Control Conference,1998.Proceedings of the 1998 2.
[45]Hong,K.S., B.J.Park, et al.(2000). "Two-Stage Control for Container Cranes." JSME International Journal, Series C43(2):273-282.
[46]包起帆(2007)."集装箱自动无人堆场研究."港口科技(001):7-13.
[47]Nalley, M.J.(2000). "Control of overhead cranes using a fuzzy logic controller." Journal of Intelligent and Fuzzy Systems 8(1):1-18.
[48]李士勇(1996).模糊控制,哈尔滨:哈尔滨工业大学出版社.283.
[49]李士勇,Y.(1998).模糊控制·神经控制和智能控制论,哈尔滨工业大学出版社.
[50]齐开国(2002)."光学小波匹配滤波器与图形识别."物理(10).
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