回转起重机吊重摆振的动力学模型与控制

为研究回转起重机回转作业中吊重的摆振特性,寻求抑制吊重摆振的控制方法,将回转起重机工作装置等效为开链机械手的形式,采用机器人动力学方法建立吊重摆振的动力学模型,提出了基于最优调节器理论的控制方案用以抑制回转作业中的吊重摆振.该方案通过1个切换开关将2个最优调节器结合起来分别控制吊重在回转运动中的切向摆振和到达目标位置后的摆振.研究结果表明,该控制方案可以实现吊重在回转运动中摆振最小,在到达目标位置后迅速静止的控制目的,具有良好的摆振抑制效果.

Dynamic Model and Control of Slewing Crane Load Sway

To describe the dynamic behavior of load of slewing crane during the slewing and elevating motion and find a suitable method to suppress the load sway, this paper developed firstly a dynamic model of load sway by using robot dynamics method in which the working device of slew crane is treated to be as an open loop manipulator. Then a control strategy based on the optimal regulator theory was proposed to suppress the load sway during slewing motion. In the strategy, two regulators, combining with a switch, control the tangential sway of the load during the slewing motion and the sway after the load arriving at its destination respectively. The research results show that the dynamic model provided is accurate enough for reflecting the dynamic behavior of the load under the slewing and elevating operation, and the strategy can offer keeping the load sway minimum during slewing motion and eliminating it rapidly while the load is reached its destination.