基于分层滑模的桥式起重机防摆控制研究

发布时间：2017-12-30 21:18

本文关键词：基于分层滑模的桥式起重机防摆控制研究　出处：《东北大学》2014年硕士论文　论文类型：学位论文

【摘要】：起重机作为一种现代搬运机械,以其方便快捷、省时省力、占地面积小等优点,广泛应用于现代厂房、建筑工地、现代化仓库、集装箱货场等国民生产的各个领域。在工作过程中,起重机是以柔性绳索与负载连接,随着起重机运作状态的改变,负载会由于小车或大车的加减速的影响而来回摆动,这会严重影响生产效率,且负载摆动给高空作业工人带来了安全隐患。防摆控制的研究具有重要意义。本文从几个方面对起重机防摆系统进行了控制器的研究与设计。首先,本文对桥式起重机的工作原理、工作性质和拉格朗日动力学建模机制进行了研究分析,由于拉格朗日动力学建模广泛应用于桥式起重机这类欠驱动非线性系统上,因此对桥式起重机进行了拉格朗日三维动力学建模；针对实际操作规律,提出了桥式起重机模型线性化的规则,并对得到的模型进行仿真,以给予实际操作中的起重机指导防摆的理论依据。其次,基于桥式起重机线性化模型,应用传统的PID控制方法对其进行控制器的设计。仿真结果表明,传统PID控制针对线性化起重机模型具有良好的控制效果,但稳定时间较长,对起重机负载系统的参数变化比较敏感、摆角较大、抑制扰动能力比较弱；而在实际工作过程中,由于起重机负载系统的非线性、绳长、风变等扰动的存在,很难精确建模,传统PID控制具有一定的局限性。再者,针对传统PID控制的局限性,考虑到桥式起重机系统的非线性、时变性、不确定性,结合滑模变结构具有控制算法简单、鲁棒性好、参数变化不敏感、容易实现等优点,本文提出将分层滑模控制应用于起重机这样的欠驱动系统,采用分层的思想对位移和摆角分别进行滑模面设计,然后再对整个系统进行总体滑模面设计,最终完成滑膜控制器的设计。对缩小后的起重机负载系统运用Matlab软件进行仿真,仿真结果验证了该控制方法的有效性。最后,对本文的研究内容进行了总结,并对未来的研究方向进行了展望。
[Abstract]:As a kind of modern handling machinery, crane is widely used in modern factory building, construction site and modern warehouse because of its advantages of convenience, time saving and labor saving, small area and so on. Container yard and other areas of national production. In the working process, the crane is connected with the load by flexible rope, with the change of the crane operation state. The load will swing back and forth because of the acceleration and deceleration of the trolley or cart, which will seriously affect the production efficiency. And the load swing brings safety hidden trouble to the aerial workers. The research of anti-swinging control is of great significance. This paper studies and designs the controller of crane anti-swing system from several aspects. First of all. In this paper, the working principle, working properties and Lagrange dynamic modeling mechanism of bridge crane are studied and analyzed. Lagrangian dynamic modeling is widely used in nonlinear underactuated systems such as bridge cranes, so Lagrangian three-dimensional dynamic modeling of bridge cranes is carried out. Aiming at the practical operation rule, the rule of linearization of the bridge crane model is put forward, and the obtained model is simulated to provide the theoretical basis for guiding the anti-swing of the crane in the actual operation. Secondly. Based on the linearization model of bridge crane, the traditional PID control method is used to design the controller. The simulation results show that the traditional PID control has good control effect for the linearized crane model. But the stability time is longer, the crane load system is sensitive to the parameter change, the swing angle is larger, and the ability of restraining disturbance is relatively weak. However, in the actual work process, because of the nonlinear, rope length, wind variation and other disturbances of crane load system, it is difficult to accurately model, the traditional PID control has some limitations. In view of the limitation of traditional PID control, considering the nonlinear, time-varying and uncertainty of the bridge crane system, the sliding mode variable structure has the advantages of simple control algorithm, good robustness and insensitive parameter change. In this paper, the layered sliding mode control is applied to the under-drive system such as crane, and the sliding mode surface of displacement and swing angle is designed by using the idea of stratification. Then the whole system is designed to complete the design of synovial controller. The reduced crane load system is simulated by Matlab software. Simulation results verify the effectiveness of the control method. Finally, the research content of this paper is summarized, and the future research direction is prospected.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TH215

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