起重机吊重偏摆系统的动力学仿真与控制研究

发布时间：2018-02-27 18:30

本文关键词： 起重机吊重偏摆系统动力学仿真控制　出处：《东北林业大学》2011年硕士论文　论文类型：学位论文

【摘要】：起重机作为一种装卸工具,广泛地适用于各港口码头集装箱的码放、林区木材装卸作业及车间仓库搬运等作业。起重机在装卸过程中,起吊载荷会产生在竖直面的单摆运动和在水平面的来回摆动。这样就造成了起重机不能在目标位置立即进行装卸工作,使工作时间加长,生产效率降低,不能满足现代化企业对货物装卸的高效率要求,而且还可能引起安全事故。研究吊重摆角的控制方法对提高起重机的作业效率具有重要意义,那么在进行控制研究之前对起重机吊重偏摆系统进行准确的动力学分析也是极其必要的,因此对起重机的动力学模型和防摆控制同时进行研究更具有重要的理论价值和实际意义。本文对其做了如下几方面的研究： (1)为了准确描述吊重偏摆的运动规律,首先应用拉格朗日方程建立了同时考虑吊重在大车运行方向和小车运行方向同时摆动的吊重偏摆系统6自由度动力学模型,得出大车运行和小车运行对摆角的影响是不相关的结论,从而建立了吊重只在小车运行情况下的4自由度动力学模型,经过线性化得出吊重在垂直方向的摆角主要与其同向的小车加(减)速度、绳长和起升机构升降速度有关,而水平摆角与自身的转动惯量和钢丝绳的扭转系数有关。(2)建立了小车制动后吊重匀速下降过程的二自由度吊重摆振微分方程,并用状态空间向量描述,最后采用Simulink中的状态空间模型建立了仿真模型并对振动微分方程进行仿真,仿真结果表明绳索长度、吊重下降速度以及吊重长度对吊重偏摆系统动力响应有重要影响。 (3)将起重机系统的动力学模型用仿射非线性形式表示,将系统的有直接激振力部分用精确线性化方法进行处理,得到新的解耦线性化动态方程,并对其进行状态反馈控制使绳长和小车位置有较好的伺服特性,对无直接激振力的非线性部分摆角的控制通过对小车位置的修正来达到快速消摆的目的。控制系统的仿真结果表明该系统对小车的位置和绳的摆长有很好的伺服效果,同时能使吊重的摆角迅速衰减,该控制系统也对吊重质量有较好的鲁棒性。
[Abstract]:As a kind of loading and unloading tool, crane is widely used in loading and unloading of container in port and terminal, timber handling in forest area and workshop warehouse handling, etc. During loading and unloading, crane is used in loading and unloading process. The lifting load will produce a single pendulum motion on the vertical plane and a swing back and forth in the horizontal plane. As a result, the crane will not be able to load and unload at the target position immediately, so that the working time will be lengthened and the production efficiency will be reduced. It can not meet the requirement of high efficiency for cargo handling in modern enterprises and may cause safety accidents. It is of great significance to study the control method of hoisting swing angle to improve the working efficiency of cranes. Then it is also extremely necessary to carry out accurate dynamic analysis of the crane hoisting and swinging system before the control study is carried out. Therefore, it is of great theoretical and practical significance to study the dynamic model and anti-swing control of crane simultaneously. 1) in order to accurately describe the motion law of the hoisting deflection pendulum, a 6-DOF dynamic model of the hoisting system is established by using the Lagrange equation, in which the lifting weight is swinging simultaneously in the running direction of the trolley and the running direction of the trolley at the same time. It is concluded that the influence of the running of the cart and the running of the car on the swing angle is irrelevant, and a dynamic model of four degrees of freedom for lifting the load only in the case of the running of the trolley is established. After linearization, it is concluded that the pendulum angle of the lifting weight in the vertical direction is mainly related to the speed of the car in the same direction, the length of the rope and the lifting speed of the lifting mechanism. The horizontal swing angle is related to the moment of inertia and the torsional coefficient of the wire rope. Finally, the state space model in Simulink is used to establish the simulation model and the vibration differential equation is simulated. The simulation results show that the rope length, the drop speed of the lifting load and the length of the lifting load have important effects on the dynamic response of the system. 3) the dynamic model of crane system is represented by affine nonlinear form, and the part of the system with direct excitation force is treated with exact linearization method, and a new decoupling linearized dynamic equation is obtained. And the state feedback control makes the rope length and car position have better servo characteristics. The control of the nonlinear partial pendulum angle without direct excitation force is achieved by modifying the position of the trolley. The simulation results of the control system show that the control system has a good servo effect on the position of the vehicle and the pendulum length of the rope. At the same time, the pendulum angle of the lifting load can be decayed rapidly, and the control system has good robustness to the lifting weight quality.
【学位授予单位】：东北林业大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH21

【引证文献】