摘要
为了提高塔式吊车的实际工作效率,往往需要在驱动旋臂和台车的同时改变绳长,以同步实现负载的运输与起落吊运.然而,目前针对变绳长塔式吊车控制问题的研究非常有限,依然处于起步阶段.对于变绳长塔式吊车而言,如何在保证系统良好暂态性能的基础上,减少运输时间、降低系统能耗,并同时实现综合最优是一个亟待解决的实际问题.为此,本文提出了一种考虑状态约束的五自由度塔式吊车多目标最优轨迹规划方法,首次实现了运输时间和系统能耗的Pareto最优,并可从理论上保证状态变量及其对应速度满足物理约束.具体而言,本文通过微分平坦输出信号构造和B样条曲线设计,实现了目标轨迹的定位和防摆性能,并利用改进的非支配近邻免疫算法(nondominated neighbor immune algorithm,NNIA)解决了多目标优化问题.最后,通过多组实际实验验证了所提方法的有效性.
In the practical applications of tower cranes,to improve work efficiency,it is necessary to simultaneously rotate the jib,move the trolley,and change the rope length during transportation;however,there exist few control methods for such 5-DOF tower crane systems.In addition,it is still open how to find a balance among reducing the transportation time,saving the energy consumption,and guaranteeing satisfactory transient performance at the same time.Therefore,to address the above issues,in this paper,a multi-objective trajectory planning method with state constraints is proposed for 5-DOF tower cranes,which is the first solution that can achieve Pareto optimality of the transportation time and energy consumption,and can simultaneously satisfy all the practical constraints of the state variables and their corresponding velocities.The positioning and anti-swing performance of the planned trajectories is realized by constructing differential flat outputs and designing B-spline curves.The multi-objective optimization problem is solved by the improved nondominated neighbor immune algorithm(NNIA).Finally,hardware experiments are carried out for effectiveness verification.
作者
刘卓清
孙宁
吴易鸣
杨桐
梁潇
方勇纯
Zhuoqing LIU;Ning SUN;Yiming WU;Tong YANG;Xiao LIANG;Yongchun FANG(Institute of Robotics and Automatic Information Systems,College of Artificial Intelligence,Nankai University,Tianjin 300350,China;Tianjin Key Laboratory of Intelligent Robotics,Nankai University,Tianjin 300350,China)
出处
《中国科学：信息科学》
CSCD
北大核心
2022年第3期521-538,共18页
Scientia Sinica(Informationis)
基金
国家自然科学基金联合基金重点支持项目(批准号:U20A20198,U1706228)
国家自然科学基金面上项目(批准号:61873134)
天津市自然科学基金面上项目(批准号:20JCYBJC01360)资助。
关键词
塔式吊车
欠驱动系统
多目标优化
轨迹规划
摆动抑制
tower cranes
underactuated systems
multi-objective optimization
trajectory planning
swing suppression
