基于模糊控制的桥式起重机防摆研究
|
摘要
消除或控制吊重的摇摆对提高起重机工作效率、减少装卸作业安全生产隐患具有重要意义,采用电子防摆装置,是减轻司机工作强度、改善司机恶劣工作环境的重要途径,也是实现机械自动化、仓储现代化的大势所趋。因此本文针对桥式起重机吊重防摆可采用的电子控制方案进行了研究。
目前应用状态反馈、PID控制、LQR最优控制方法对桥式起重机吊重防摆进行控制,研究和仿真结果表明具有一定的局限性,本文应用模糊控制机理,提出基于模糊控制的桥式起重机的防摆技术。并根据工程实际和方便司机操作设计了“模糊速度跟踪”控制器和“模糊速位双跟踪”控制器,详细阐述了设计过程。在模糊控制系统输入、输出变量确定和控制规则设计过程中,通过对桥式起重机吊重防摆系统的分析研究,提出了一种改进方案,建立了控制规则表,此种方法降低了运算时间、提高了控制效率。借助MATLAB中的Simulink Fuzzy工具箱对所设计的方案进行仿真分析。结果表明,本文所设计的模糊控制器具有良好的控制性能,有效的抑制了吊重的摆动,使小车运行停止后,摆动五秒内衰减为零,而位移的静态误差不超过百分之一,并且“模糊速位双跟踪”控制器在速度和位移的跟踪上优于前者,鲁棒性强,不受外界扰动的影响,是一种较为理想的控制方法。
最后,在分析了钢铁企业桥式起重机钢卷调运过程对控制器要求的基础上,充分利用原有电气元件,增加了摆角传感器和主控计算机,设计了吊重防摆控制器,在实际生产中得到应用效果良好。
Eliminating and controlling the swing of load are very important for increasing the work efficiency of crane as well as decreasing hazard during loading and unloading operation. It is an method to lighten the work strength intensity and to improve the bad work condition for the operator by adopting electronic anti-swing device, which also the trend of actualizing the loading and unloading machinery automation. So, this theist discusses the electronic anti-swing device method of over head crane.
The basic methods which are feedback control and PID control and LQR optimal control has the shortage in crane anti-swing. So this theist studies the fuzzy control mechanism and designs two fuzzy anti-swing controllers which is "Track-V" fuzzy controller and "Track-VP" fuzzy controller based on details. The theist also gets the improvement in the fuzzy invariable choosing and fuzzy rule building. The new method needs little time to compute and get the high efficiency. And the simulink result shows the good control effect. The swing angle decay to zero in five seconds when the cart stops, and the steady state error is lower than 1%. The "Track-VP" fuzzy control effect is better in velocity and position track than above one and good robustness when having external disturbance.
At the end, the theist designs the controller system by analysis steel enterprise condition, and controller gets the good application. The theist builds the control system use the original Electronic Component; just adds only two parts which are angle sensor and the main control computer.
目前应用状态反馈、PID控制、LQR最优控制方法对桥式起重机吊重防摆进行控制,研究和仿真结果表明具有一定的局限性,本文应用模糊控制机理,提出基于模糊控制的桥式起重机的防摆技术。并根据工程实际和方便司机操作设计了“模糊速度跟踪”控制器和“模糊速位双跟踪”控制器,详细阐述了设计过程。在模糊控制系统输入、输出变量确定和控制规则设计过程中,通过对桥式起重机吊重防摆系统的分析研究,提出了一种改进方案,建立了控制规则表,此种方法降低了运算时间、提高了控制效率。借助MATLAB中的Simulink Fuzzy工具箱对所设计的方案进行仿真分析。结果表明,本文所设计的模糊控制器具有良好的控制性能,有效的抑制了吊重的摆动,使小车运行停止后,摆动五秒内衰减为零,而位移的静态误差不超过百分之一,并且“模糊速位双跟踪”控制器在速度和位移的跟踪上优于前者,鲁棒性强,不受外界扰动的影响,是一种较为理想的控制方法。
最后,在分析了钢铁企业桥式起重机钢卷调运过程对控制器要求的基础上,充分利用原有电气元件,增加了摆角传感器和主控计算机,设计了吊重防摆控制器,在实际生产中得到应用效果良好。
Eliminating and controlling the swing of load are very important for increasing the work efficiency of crane as well as decreasing hazard during loading and unloading operation. It is an method to lighten the work strength intensity and to improve the bad work condition for the operator by adopting electronic anti-swing device, which also the trend of actualizing the loading and unloading machinery automation. So, this theist discusses the electronic anti-swing device method of over head crane.
The basic methods which are feedback control and PID control and LQR optimal control has the shortage in crane anti-swing. So this theist studies the fuzzy control mechanism and designs two fuzzy anti-swing controllers which is "Track-V" fuzzy controller and "Track-VP" fuzzy controller based on details. The theist also gets the improvement in the fuzzy invariable choosing and fuzzy rule building. The new method needs little time to compute and get the high efficiency. And the simulink result shows the good control effect. The swing angle decay to zero in five seconds when the cart stops, and the steady state error is lower than 1%. The "Track-VP" fuzzy control effect is better in velocity and position track than above one and good robustness when having external disturbance.
At the end, the theist designs the controller system by analysis steel enterprise condition, and controller gets the good application. The theist builds the control system use the original Electronic Component; just adds only two parts which are angle sensor and the main control computer.
引文
[1]严云福.超巴拿马型岸边集装箱起重机发展的新趋势.港口装卸,2001,(1):12-15.
[2]符敦鉴.高新技术在集装箱机械上的开发和应用.中国港口,2003,(7):16-17.
[3]吴宏智.集装箱装卸搬运机械发展概况.物流技术,1994,(5):30-33.
[4]蒋国仁.港口起重机械.大连:大连海事大学出版社,1995.
[5]张斌,吴福华,陈迪茂.轮胎式龙门起重机防摇技术.水运工程,2005,(5):74-77.
[6]马建智,从辽钢事故论冶金起重机.机械管理开发,2008,24(2):124-125.
[7]白传悦.岸边集装箱起重机吊具减摆装置.起重运输机械,2005,(8):22-25.
[8]王金诺,程文明,张质文.集装箱起重机刚性减摇系统的动态仿真.铁道学报,1995,(3):70-75.
[9]林致来.岸边集装箱起重机机械减摇系统.起重运输机械,1998,(8):23-24.
[10]梁承姬,张纪元.机械式减摇机构的动力学模型及其数值计算.上海海运学院学报,2000,21(4):37-42.
[11]张泰.集装箱起重机减摇系统的分析与计算.青岛建筑工程学院学报,1997,18(1):21-26.
[12]魏雨龙.岸边集装箱装卸桥吊具减摇装置的研究.上海:上海海事大学,硕士学位论文.2005,21(4):37-42.
[13]徐保林.轨道式集装箱龙门起重机的刚性减摇装置.港口装卸,1994,(6):6-9.
[14]沈李建.集装箱装卸桥吊具电子防摇系统.港口装卸,1998,(6):9-10.
[15]C.L.Teo,C.J.Ong,M.Xu,Pulse Input Sequences For Residual Vibration Reducation.Journal of Sound and Vibration,1998,211(2):157-177.
[16]William Singhose,Lisa Porter,Effects of hoisting on the input shaping control of gantry cranes.Control engineering practice,2000,8(10):1159-1165.
[17]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,2004,19(2):157-160.
[18]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,2004,19(9):1013-1016.
[19]王晓军,邵惠鹤.基于输人整形的线性二次型调节器及其应用.上海交通大学学报,2006,40(5):848-851.
[20]Cavallo,G.De Maria,R.Setola.A sliding manifold approach for vibration reduction of flexible systems.Automatica.,1999,35(10):1689-1696.
[21]Z.Mohamed,M.O.Tokhi.Command Shaping techniques for vibration control of a flexible robot manipulator.Mechatronics,2004,(14):69-90.
[22]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.
[23]Lucy Y.Pao.Multi-input shaping design for vibration reduction.Automatica,1999,(35):81-89.
[24]刘业良,李伟.天车抓斗防摆控制方法的研究.信息与控制,1993,(1):50-55.
[25]李伟,吴志新等.塔式起重机载荷摆振模型.机械工程学报,1993,(4):15-21.
[26]李伟,张桂清.起重机最优消摆对策.山东建筑工程学院学报,1998,(3):41-46.
[27]J.Ben KLAASSENS,Ger HONDERD.Time-Optimal Trajectory Controller for Container Cranes using Model-Based Predictive Control.Journal A.,2000,41(1):25-30.
[28]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.
[29]Piazzi A.,Visioli A..Optimal dynamic-inversion-based control of an overhead crane.IEEE Proceedings-Control Theory and Applications,2002,149(5):405-411
[30]王克琦.桥式起重机的定位和防摆控制研究.系统仿真学报,2007(19):1799-1802.
[31]N.Sadati,A.Hooshmand.Design of a Gain-Scheduling Anti-Swing Controller for Tower Cranes Using Fuzzy Clustering Techniques.International Conference On Computational Intelligence for Modeling Control and Automation.Sydney,Australia,2006.
[32]董明晓,郑康平,张明勤.桥式起重机消摆控制仿真研究.系统仿真学报.2005,17(6):1459-1461.
[33]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,2005,17(4):936-939.
[34]刘舒.自动控制原理.北京:中国人民公安大学出版社,2009.
[35]王立新.模糊系统与模糊控制教程.北京:清华大学出版社,2009.
[36]Benhidjeb A.,Gissinger G.L..Fuzzy Control of an Overhead Crane Performance ComParision with Classic Control.Control Engineering Practice,1995,3(12):1687-1696.
[37]Nally M.,Trabia M.B..Control of Overhead Cranes Using a Fuzzy Logic Controller.Journal of Intelligent and Fuzzy Systems,2000,8(1):7-18.
[38]Nowaeki Z.,owezarz D..On the Roustness of Fuzzy Control of an Overhead Crane.Proceedings of the IEEE International SymPosiumon Industrial Electronies,1996:433-437.
[39]Mahfouf M.,Kee C.H.,Abbod M.F.,Linkens D.A..Fuzzy Logi-Based Anti-Sway Control Design for Overhead Cranes.Neural Computing & Applications,2000,(9):38-43.
[40]Sung-Kun Cho,Ho-Hoon Lee,A fuzzy-logic anti-swing controller for three-dimensional over head cranes,Isa Transactions,2002,41(2):235-243.
[41]华克强.桥式吊车模糊防摆技术.中国民航学院学报,2000,18(3):18-23.
[42]薛朵,李宇成.港口集装箱吊车的建模与模糊控制.机电一体化,2000,(3):42-46.
[43]钟斌.基于吊重防摇的起重机快速对位关键技术研究.四川:西南交通大学,博士学位论文,2007.
[44]汪家訸.分析力学.北京:高等教育出版社,1982.
[45]张桂青,李伟,叶卓锋.绳长对起重机载荷消摆影响的计算机仿真.山东科学,1998,11(3):51-54.
[46]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,1998,28(2):107-111.
[47]谢克明.现代控制理论.北京:清华大学出版社,1997.
[48]飞思科技产品研发中心.MATLAB辅助控制系统设计与仿真.北京:电子工业出版社,2005.
[49]汪声远.现代控制理论简明教程.北京:北京航空航天大学出版社,1990.
[50]于长官.现代控制理论.哈尔滨:哈尔滨工业大学出版社,2005.
[51]姜长生,吴庆宪,陈文华.现代鲁棒控制基础.哈尔滨:哈尔滨工业大学出版社,2005.
[52]曹涛.起重机消摆控制器的研制.山东:山东建筑大学,硕士学位论文,2007.
[53]刘金琨.先进PID控制及其MATLAB仿真.北京:电子工业出版社,2003.
[54]曹秀敏.模糊控制及其在工业过程中的应用.科技情报开发与经济,2002,10(2):89-92.
[55]A.J.van der WAL.Application of fuzzy logic control in industry.Fuzzy Sets and Systems.1995,74:33-41.[56]Qu Sun,Renhou Li,Ping Zhang.Stable and optimal adaptive fuzzy control of complex systems using fuzzy dynamic model.Fuzzy Sets and Systems,2003,133(7):1-17.
[57]韩启刚,吴锡祺.计算机模糊控制技术与仪表装置.中国计量出版社,1999,20(1):75-109.
[58]Zhang Bin,Wang Jing-cheng,Zhang Jian-min.Dynamic model of reheating furnace based on fuzzy system and genetic algorithm.Control Theory & Application,2003,20(2):293-296
[59]单冬.模糊控制原理及应用.北京:中国铁道出版社,1995.
[60]诸静等.模糊控制原理及应用.北京:机械工业出版社,1999.
[61]周勇.集装箱起重机模糊智能控制研究及仿真.武汉:武汉理工大学,硕士学位论文,2003.
[62]吴晓莉,林哲辉.MATLAB辅助模糊系统设计.西安:西安电子科技大学出版社,2002.
[63]楼顺天,胡昌华,张伟.基于MATLAB的系统分析与设计-模糊系统.西安:西安电子科技大学出版社,2003.
[64]莫克塔里.MATLAB与SIMULINK工程应用.北京:电子工业出版社,2002.
[65]沈辉.精通SIMULINK系统仿真与控制.北京:北京大学出版社,2003.
[2]符敦鉴.高新技术在集装箱机械上的开发和应用.中国港口,2003,(7):16-17.
[3]吴宏智.集装箱装卸搬运机械发展概况.物流技术,1994,(5):30-33.
[4]蒋国仁.港口起重机械.大连:大连海事大学出版社,1995.
[5]张斌,吴福华,陈迪茂.轮胎式龙门起重机防摇技术.水运工程,2005,(5):74-77.
[6]马建智,从辽钢事故论冶金起重机.机械管理开发,2008,24(2):124-125.
[7]白传悦.岸边集装箱起重机吊具减摆装置.起重运输机械,2005,(8):22-25.
[8]王金诺,程文明,张质文.集装箱起重机刚性减摇系统的动态仿真.铁道学报,1995,(3):70-75.
[9]林致来.岸边集装箱起重机机械减摇系统.起重运输机械,1998,(8):23-24.
[10]梁承姬,张纪元.机械式减摇机构的动力学模型及其数值计算.上海海运学院学报,2000,21(4):37-42.
[11]张泰.集装箱起重机减摇系统的分析与计算.青岛建筑工程学院学报,1997,18(1):21-26.
[12]魏雨龙.岸边集装箱装卸桥吊具减摇装置的研究.上海:上海海事大学,硕士学位论文.2005,21(4):37-42.
[13]徐保林.轨道式集装箱龙门起重机的刚性减摇装置.港口装卸,1994,(6):6-9.
[14]沈李建.集装箱装卸桥吊具电子防摇系统.港口装卸,1998,(6):9-10.
[15]C.L.Teo,C.J.Ong,M.Xu,Pulse Input Sequences For Residual Vibration Reducation.Journal of Sound and Vibration,1998,211(2):157-177.
[16]William Singhose,Lisa Porter,Effects of hoisting on the input shaping control of gantry cranes.Control engineering practice,2000,8(10):1159-1165.
[17]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,2004,19(2):157-160.
[18]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,2004,19(9):1013-1016.
[19]王晓军,邵惠鹤.基于输人整形的线性二次型调节器及其应用.上海交通大学学报,2006,40(5):848-851.
[20]Cavallo,G.De Maria,R.Setola.A sliding manifold approach for vibration reduction of flexible systems.Automatica.,1999,35(10):1689-1696.
[21]Z.Mohamed,M.O.Tokhi.Command Shaping techniques for vibration control of a flexible robot manipulator.Mechatronics,2004,(14):69-90.
[22]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.
[23]Lucy Y.Pao.Multi-input shaping design for vibration reduction.Automatica,1999,(35):81-89.
[24]刘业良,李伟.天车抓斗防摆控制方法的研究.信息与控制,1993,(1):50-55.
[25]李伟,吴志新等.塔式起重机载荷摆振模型.机械工程学报,1993,(4):15-21.
[26]李伟,张桂清.起重机最优消摆对策.山东建筑工程学院学报,1998,(3):41-46.
[27]J.Ben KLAASSENS,Ger HONDERD.Time-Optimal Trajectory Controller for Container Cranes using Model-Based Predictive Control.Journal A.,2000,41(1):25-30.
[28]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.
[29]Piazzi A.,Visioli A..Optimal dynamic-inversion-based control of an overhead crane.IEEE Proceedings-Control Theory and Applications,2002,149(5):405-411
[30]王克琦.桥式起重机的定位和防摆控制研究.系统仿真学报,2007(19):1799-1802.
[31]N.Sadati,A.Hooshmand.Design of a Gain-Scheduling Anti-Swing Controller for Tower Cranes Using Fuzzy Clustering Techniques.International Conference On Computational Intelligence for Modeling Control and Automation.Sydney,Australia,2006.
[32]董明晓,郑康平,张明勤.桥式起重机消摆控制仿真研究.系统仿真学报.2005,17(6):1459-1461.
[33]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,2005,17(4):936-939.
[34]刘舒.自动控制原理.北京:中国人民公安大学出版社,2009.
[35]王立新.模糊系统与模糊控制教程.北京:清华大学出版社,2009.
[36]Benhidjeb A.,Gissinger G.L..Fuzzy Control of an Overhead Crane Performance ComParision with Classic Control.Control Engineering Practice,1995,3(12):1687-1696.
[37]Nally M.,Trabia M.B..Control of Overhead Cranes Using a Fuzzy Logic Controller.Journal of Intelligent and Fuzzy Systems,2000,8(1):7-18.
[38]Nowaeki Z.,owezarz D..On the Roustness of Fuzzy Control of an Overhead Crane.Proceedings of the IEEE International SymPosiumon Industrial Electronies,1996:433-437.
[39]Mahfouf M.,Kee C.H.,Abbod M.F.,Linkens D.A..Fuzzy Logi-Based Anti-Sway Control Design for Overhead Cranes.Neural Computing & Applications,2000,(9):38-43.
[40]Sung-Kun Cho,Ho-Hoon Lee,A fuzzy-logic anti-swing controller for three-dimensional over head cranes,Isa Transactions,2002,41(2):235-243.
[41]华克强.桥式吊车模糊防摆技术.中国民航学院学报,2000,18(3):18-23.
[42]薛朵,李宇成.港口集装箱吊车的建模与模糊控制.机电一体化,2000,(3):42-46.
[43]钟斌.基于吊重防摇的起重机快速对位关键技术研究.四川:西南交通大学,博士学位论文,2007.
[44]汪家訸.分析力学.北京:高等教育出版社,1982.
[45]张桂青,李伟,叶卓锋.绳长对起重机载荷消摆影响的计算机仿真.山东科学,1998,11(3):51-54.
[46]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,1998,28(2):107-111.
[47]谢克明.现代控制理论.北京:清华大学出版社,1997.
[48]飞思科技产品研发中心.MATLAB辅助控制系统设计与仿真.北京:电子工业出版社,2005.
[49]汪声远.现代控制理论简明教程.北京:北京航空航天大学出版社,1990.
[50]于长官.现代控制理论.哈尔滨:哈尔滨工业大学出版社,2005.
[51]姜长生,吴庆宪,陈文华.现代鲁棒控制基础.哈尔滨:哈尔滨工业大学出版社,2005.
[52]曹涛.起重机消摆控制器的研制.山东:山东建筑大学,硕士学位论文,2007.
[53]刘金琨.先进PID控制及其MATLAB仿真.北京:电子工业出版社,2003.
[54]曹秀敏.模糊控制及其在工业过程中的应用.科技情报开发与经济,2002,10(2):89-92.
[55]A.J.van der WAL.Application of fuzzy logic control in industry.Fuzzy Sets and Systems.1995,74:33-41.[56]Qu Sun,Renhou Li,Ping Zhang.Stable and optimal adaptive fuzzy control of complex systems using fuzzy dynamic model.Fuzzy Sets and Systems,2003,133(7):1-17.
[57]韩启刚,吴锡祺.计算机模糊控制技术与仪表装置.中国计量出版社,1999,20(1):75-109.
[58]Zhang Bin,Wang Jing-cheng,Zhang Jian-min.Dynamic model of reheating furnace based on fuzzy system and genetic algorithm.Control Theory & Application,2003,20(2):293-296
[59]单冬.模糊控制原理及应用.北京:中国铁道出版社,1995.
[60]诸静等.模糊控制原理及应用.北京:机械工业出版社,1999.
[61]周勇.集装箱起重机模糊智能控制研究及仿真.武汉:武汉理工大学,硕士学位论文,2003.
[62]吴晓莉,林哲辉.MATLAB辅助模糊系统设计.西安:西安电子科技大学出版社,2002.
[63]楼顺天,胡昌华,张伟.基于MATLAB的系统分析与设计-模糊系统.西安:西安电子科技大学出版社,2003.
[64]莫克塔里.MATLAB与SIMULINK工程应用.北京:电子工业出版社,2002.
[65]沈辉.精通SIMULINK系统仿真与控制.北京:北京大学出版社,2003.