起重机吊摆系统的动力学分析与防摆控制研究

发布时间：2018-01-27 23:33

本文关键词： 起重机系统防摆控制时滞位移反馈中立型时滞微分方程稳定性切换 DDE Solver　出处：《南京航空航天大学》2012年硕士论文　论文类型：学位论文

【摘要】：起重机是现代生产中不可或缺的一种机械设备，在各个生产领域都有着广泛的应用，从而实现了生产机械化，带来了经济效益。但是起重机在作业过程中会产生负载摆动，严重影响了工作效率及安全性能。为了使起重机能安全、高效的工作，，亟需设计出有效的控制方法来抑制系统的摆动。本课题即是在此背景下，对起重机吊摆系统进行动力学分析与防摆控制的研究。本文以模型相对复杂的塔式起重机和挺杆式起重机吊摆系统为研究对象，建立了两种系统的三维非线性动力学模型，采用软件Matlab对两种系统进行了动力学特性分析，从系统响应、运动相图以及运动轨迹三个方面详细研究了系统在不同运动作业形式和不同初始条件下的动力学特性，得到系统在各种外在条件影响下的运动规律。基于准确的数学模型，本文提出了时滞位移反馈控制方法，依据两种系统自身的运动形式，理论推导出了两种系统的控制方程，结果显示两种控制方程均为非线性、中立型时滞微分方程。根据方程特点，采用稳定性切换方法对两种系统的控制方程进行了稳定性分析，得到了稳定性区域图以及控制参数与系统阻尼的关系，这为选取合适的控制参数提供了理论依据。为了验证控制方法的有效性，本文采用基于FORTRAN语言编写的DDE Solver程序进行求解。数值求解了两种系统在不同作业运动形式和不同初始条件下的运动响应，并与无控系统响应相比较，仿真结果表明，该控制方法能有效抑制两种吊摆系统的摆动，且对外界干扰影响较小。
[Abstract]:Crane is an indispensable mechanical equipment in modern production, which has been widely used in various fields of production, thus realizing production mechanization. It brings economic benefits, but the crane will produce load swing in the process of operation, which seriously affects the work efficiency and safety performance. In order to make the crane work safely and efficiently. There is an urgent need to design an effective control method to suppress the swing of the system. Under this background, the dynamic analysis and anti-swing control of the crane hoisting system are studied in this paper. In this paper, three dimensional nonlinear dynamic models of tower crane and tappet crane pendulum system are established. The dynamic characteristics of the two systems are analyzed by software Matlab, and the response of the two systems is analyzed. The dynamic characteristics of the system under different motion operation forms and different initial conditions are studied in detail from three aspects of motion phase diagram and motion trajectory. The motion laws of the system under various external conditions are obtained. Based on the accurate mathematical model, a time-delay displacement feedback control method is proposed in this paper. According to the motion forms of the two systems, the control equations of the two systems are derived theoretically. The results show that the two control equations are nonlinear and neutral delay differential equations. According to the characteristics of the equations, the stability analysis of the control equations of the two systems is carried out by using the stability switching method. The stability region diagram and the relation between control parameters and system damping are obtained, which provides a theoretical basis for selecting appropriate control parameters. In order to verify the effectiveness of the control method. In this paper, DDE Solver program based on FORTRAN language is used to solve the problem, and the motion responses of two systems under different operation forms and different initial conditions are numerically solved. The simulation results show that the proposed control method can suppress the swing of the two pendulum systems effectively and has little effect on the external disturbance.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH21

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