桥式起重机的防摆控制方法研究

发布时间：2018-01-03 16:40

本文关键词：桥式起重机的防摆控制方法研究　出处：《太原科技大学》2011年硕士论文　论文类型：学位论文

【摘要】：本文研究的是桥式起重机的防摆控制,在分析了国内外起重机各种防摆控制方法的基础上,阐述本次选题的背景和意义。针对现有控制方案的不足之处,研究了几种新的防摆控制方法。一、研究了一种基于终端(Terminal)滑模控制的起重机防摆控制方法。在滑动超平面的设计中引入非线性函数,使得在滑模面上的跟踪误差能够在有限的时间内收敛到零,从而提高系统的响应速度,更快地消除载荷的摆动。二、研究了一种基于遗传算法的起重机三维滑模控制方法。基于由五个非线性二阶常微分方程构成的三维起重机模型,利用滑模变结构的方法设计控制器,在变绳长的条件下对载荷的位置和摆角进行控制,并且利用遗传算法对其参数进行优化,减小了系统的抖振,消除了载荷摆动。三、研究了一种基于滑模预测控制的起重机防摆控制方法。由于预测控制对模型的精确性要求不高,通过将预测控制方法引入到滑模变结构中,利用预测控制中的滚动优化和反馈校正来优化滑模的轨迹运动过程,达到削弱抖振和增强鲁棒性的目的,实现了对桥式起重机小车的定位和载荷的防摆。针对以上三种控制方法,都进行了仿真研究,仿真结果表明研究方法具有可行性和有效性。
[Abstract]:This paper studies the anti-swing control of bridge crane. Based on the analysis of various anti-swing control methods of crane at home and abroad, the background and significance of this topic are expounded. Several new anti-swinging control methods are studied. Firstly, a method of crane anti-swing control based on terminal terminal terminal sliding mode control is studied, and nonlinear function is introduced in the design of sliding hyperplane. The tracking error on the sliding mode surface can converge to zero in a limited time, thus the response speed of the system can be improved and the load swing can be eliminated more quickly. Secondly, a 3D sliding mode control method for crane based on genetic algorithm is studied. Based on the three dimensional crane model composed of five nonlinear second order ordinary differential equations, the sliding mode variable structure method is used to design the controller. The load position and swing angle are controlled under the condition of variable rope length, and the parameters are optimized by genetic algorithm, which reduces the chattering of the system and eliminates the load swing. Thirdly, a sliding mode predictive control (SMC) based anti-swinging control method for crane is studied. Because the precision of the model is not high in predictive control, the predictive control method is introduced into the sliding mode variable structure. The rolling optimization and feedback correction in predictive control are used to optimize the trajectory motion of sliding mode. The aim of weakening buffeting and enhancing robustness is achieved, and the positioning of bridge crane trolley and the anti-swing of load are realized. The simulation results show that the method is feasible and effective.
【学位授予单位】：太原科技大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH215

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