双摆平面龙门起重机输入成形器设计

Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328) Pub Date : 1999-08-22 DOI:10.1109/CCA.1999.806702

M. Kenison, W. Singhose

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引用次数: 57

摘要

考虑到系统固有的灵活性，操纵龙门吊的有效载荷是很困难的。龙门起重机的动力学通常可以有效地建模为单一的线性柔性模型。然而，如果起重机配备了大质量的吊钩，并且有效载荷足够轻，那么双摆效应会使动力学变得复杂。本文提出了一种确定二次摆振型对整体动力响应贡献的方法。在此基础上，提出了一种减小残余振荡的输入整形方案。该控制方法利用双摆动力学来确定输入整形算法的参数。

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Input shaper design for double-pendulum planar gantry cranes

Manipulating payload with gantry cranes can be difficult given the inherent system flexibility. Gantry crane dynamics can often be effectively modeled as a single linear flexible mode. However, if the crane is equipped with a large-mass hook and the payload is sufficiently light, then the dynamics can become complicated by double-pendulum effects. This paper presents a method for determining the contribution of the second pendulum mode to the overall dynamic response. Furthermore, an input shaping scheme is developed to reduce residual oscillations. This control method utilizes the double-pendulum dynamics to determine the parameters of the input shaping algorithm.

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来源期刊

Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)

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