本发明提供一种基于能量耦合的桥式起重机防摆定位分段控制方法,本发明针对防摆要求高的场合的传统能量控制不能满足要求的问题传统能量耦合控制桥式起重机定位消摆中抖振及响应速度慢的问题,在传统能量控制的基础上增加了台车加减速信息同时引入用分段控制的方法在防摆阶段添加台车加减速信息构造李雅普诺夫函数利用李雅普诺夫方法设计出控制器,发明了一种基于基于能量耦合的桥式起重机防摆定位分段控制方法,使使桥式起重机的防摆性能得到提升。将本发明与增强耦合控制和能量耦合控制相比较,结果如图2至图9所示。表明了该方法能够在桥式起重机的运行过程中有效抑制负载摆角,实现台车准确定位,同时提高了防摆的性能,消除负载残余摆动。
The invention provides a bridge crane anti-swing positioning subsection control method based on energy coupling, and aims to solve the problem that traditional energy control cannot meet requirements in occasions with high anti-swing requirements, and the problems of buffeting and slow response speed in positioning and swing elimination of a bridge crane controlled by traditional energy coupling. On the basis of traditional energy control, trolley acceleration and deceleration information is added, meanwhile, a segmented control method is introduced to add the trolley acceleration and deceleration information in an anti-swing stage to construct a Lyapunov function, and a controller is designed through the Lyapunov method. According to the bridge crane anti-swing positioning subsection control method based on energy coupling, the anti-swing performance of the bridge crane is improved; the method is compared with enhanced coupling control and energy coupling control, and results are shown in Figure 2 to Figure 9; and according to the method, the load swing angle can be effectively restrained in the operation process of the bridge crane, accurate positioning of a trolley is achieved, meanwhile, the anti-swing performance is improved, and load residual swing is eliminated.
一种基于能量耦合的桥式起重机防摆定位分段控制方法
2024-06-14
Patent
Electronic Resource
Chinese