摘要
为了解决桥式起重机小车运行机构的加减速运动引起货物长时间摆动问题,文中设计基于遗传算法(Genetic Algorithm,GA)的线性二次型调节器控制策略控制小车运行机构的运动。根据Lagrange方程建立桥式起重机小车运行机构运动和货物摆动的动力学模型,分析模型的稳定性、可控性和可观性;根据最优控制理论设计线性二次型调节器,基于遗传算法优化线性二次型调节器的加权矩阵Q和R,设计最优线性二次型调节器;应用Matlab软件搭建在线性二次型调节器和最优线性二次型调节器控制下的桥式起重机小车运行机构动力学Simulink仿真系统。仿真结果表明:与线性二次型调节器相比,最优线性二次型调节器能够将小车运行机构的定位时间降低7.4 s,将货物最大残留摆动幅值降低49.3%。
In order to solve the problem that the goods swing for a long time caused by the acceleration and deceleration movement of the trolley running mechanism of the bridge crane,in this paper,the linear quadratic regulator control strategy based on Genetic Algorithm(GA)is adopted to control the movement of the trolley running mechanism.According to Lagrange equation,a dynamic model of the movement of trolley and the swing of goods of bridge crane was established,and the stability,controllability and observability of the model were analyzed.According to the optimal control theory,the linear quadratic regulator was designed,and the weighting matrices Q and R of the linear quadratic regulator were optimized based on genetic algorithm,so as to design the optimal linear quadratic regulator.Through Matlab software,a Simulink simulation system of the dynamics of the trolley of the bridge crane controlled by the linear quadratic regulator and the optimal linear quadratic regulator was established.The simulation results show that compared with the linear quadratic regulator,the optimal linear quadratic regulator can reduce the positioning time of trolley running mechanism by 7.4 s and the maximum residual swing amplitude of goods by 49.3%.
作者
宫厚华
和大龙
和辉
杜建
董明晓
Gong Houhua;He Dalong;He hui;Du Jian;Dong Mingxiao
出处
《起重运输机械》
2023年第17期66-72,共7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)
山东省科技型中小企业创新能力提升工程项目(2021TSGC1392)。
