摘要
文中针对桥式起重机在空行程时的运行快速性和快速定位问题,基于拉格朗日方程建立桥式起重机小车机构在空行程时的线性化动力学模型,提出PD(Proportional Derivative)结合输入整形控制策略,并推导出在阶跃输入命令控制下小车机构在空行程时的运动位移和控制力表达式。通过仿真验证了PD结合输入整形控制策略可以有效降低小车机构空行程运行的超调量和调整时间,提高了小车机构的快速性和稳定性,并且有效降低了小车机构控制力和能耗,提高小车的工作效率。
For the fast running and quick positioning of bridge cranes in idle stroke,a linear dynamic model of trolley mechanism in idle travel is established based on Lagrange equation,a PD combined with input shaping control strategy is put forward,and the expressions of movement displacement and control force of trolley mechanism in idle stroke under the control of step input command are derived.The simulation results show that PD combined with input shaping control strategy can effectively reduce the overshoot and adjustment time of the trolley mechanism during idle stroke,improve the rapidity and stability of the trolley mechanism,and effectively reduce the control force and energy consumption of the trolley mechanism,and improve the working efficiency of the trolley.
作者
董明晓
王冰清
和大龙
付航
刘忠旭
Dong Mingxiao;Wang Bingqing;He Dalong;Fu Hang;Liu Zhongxu
出处
《起重运输机械》
2023年第4期26-31,共6页
Hoisting and Conveying Machinery
基金
济南市“高校20条”资助项目科研带头人工作室项目(2019GXRC604)。
关键词
桥式起重机
空行程
输入整形
定位
bridge crane
idle stroke
input shaping
positioning
