基于自抗扰理论的桅杆式起重机定位与消摆控制
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TH21;TP273

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国家重点基础研究发展计划(973计划)


Positioning and Anti-swing Control of Mast Crane Based on Auto-disturbance Rejection Theory
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The National Basic Research Program of China (973 Program)

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    摘要:

    桅杆式起重机在吊运的过程中负载产生的摆动问题会影响工作效率,严重时会造成一定的安全事故。为此,设计一种自抗扰控制器在保证负载快速精准定位的前提下,抑制负载摆角。首先,对桅杆式起重机进行动力学分析,建立系统的空间三维动力学方程;然后,针对桅杆式起重机的非线性和欠驱动特性设计自抗扰消摆控制器,实现旋转和俯仰运动机构的精准定位和有效消摆,从而为实际应用吊运过程中节省了大量的时间。最后,通过分别设置不同的绳长值以及与其它控制方法仿真结果对比分析可知,该控制器对桅杆式起重机负载的摆角值有着很好的抑制效果,并具有较强的鲁棒性。

    Abstract:

    The load swing problem of mast crane during hoisting will affect the working efficiency and cause some safety accidents when it is serious. Therefore, an active disturbance rejection controller (ADRC) is designed to suppress the load swing angle under the condition of fast and accurate load positioning. Firstly, the dynamic analysis of the mast crane is carried out, and the three-dimensional dynamic equations of the system are established. Secondly, the active disturbance rejection controller is designed according to the nonlinear and underactuated characteristics of the mast crane, the precise positioning and the effective anti-swing of the rotating and pitching mechanism are realized, which saves a great deal of time in the actual application of the lifting process. Finally, by setting different rope length values and comparing with the simulation results of other control methods, the controller has a good restraining effect on the load swing angle of mast crane and strong robustness.

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刘惠康,刘馨,柴琳,等. 基于自抗扰理论的桅杆式起重机定位与消摆控制[J]. 科学技术与工程, 2022, 22(23): 10073-10079.
Liu Huikang, Liu Xin, Chai Lin, et al. Positioning and Anti-swing Control of Mast Crane Based on Auto-disturbance Rejection Theory[J]. Science Technology and Engineering,2022,22(23):10073-10079.

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  • 收稿日期:2021-10-29
  • 最后修改日期:2022-05-23
  • 录用日期:2022-04-24
  • 在线发布日期: 2022-09-06
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