The invention provides a double-pendulum type slewing crane trajectory planning control method and system considering state constraints. The method comprises the steps of building a crane kinetic model, carrying out the analysis, and determining the state quantity constraint condition of a drive motor; based on the state quantity constraint condition, determining a positioning angular acceleration trajectory by using a trapezoidal function with a preset duration; according to a nonlinear coupling relation among a lifting arm pitching motion angle, lifting hook swinging and load swinging, determining an anti-swinging angular acceleration trajectory; and determining a lifting arm amplitude-variable motion angular acceleration trajectory by combining the positioning angular acceleration trajectory and the anti-swing angular acceleration trajectory, so that accurate positioning and anti-swing control of a crane are achieved. The scheme shows more excellent transient performance on the system state constraints and positioning anti-swing control.
本公开提供了一种考虑状态约束的双摆型回转起重机轨迹规划控制方法及系统,包括建立起重机动力学模型并进行分析,确定驱动电机的状态量约束条件;基于所述状态量约束条件,利用具有预设持续时间的梯形函数确定定位角加速度轨迹;根据吊臂俯仰运动角、吊钩摆动和负载摆动之间的非线性耦合关系,确定消摆角加速度轨迹;结合定位角加速度轨迹和消摆角加速度轨迹确定吊臂变幅运动角加速度轨迹,实现对所述起重机的精确定位与防摆控制,本公开所述方案对系统状态约束和定位防摆控制表现出了更加优异的暂态性能。
Double-pendulum type slewing crane trajectory planning control method and system considering state constraints
考虑状态约束的双摆型回转起重机轨迹规划控制方法及系统
2021-05-28
Patent
Electronic Resource
Chinese