吊车钢丝绳非线性谐振建模及消谐控制

对于欠驱动吊车而言, 已有的方法都只考虑如何消除摆角. 然而当钢丝绳的摆角很小时, 钢丝绳上可能仍 然会存在严重的谐振. 针对吊车的消谐问题, 本文率先提出了一种基于钢丝绳–电机轴的非线性谐振力矩模型. 具体而言, 先利用振动力学的方法, 建立了非线性谐振力矩模型, 该模型可以将钢丝绳上的非线性谐振力矩归算到电机轴上, 然后通过电机控制器调节电机的输出力矩, 使得电机输出的基波主力矩上叠加一个大小相等方向相反的非线 性谐振力矩, 以达到消除钢丝绳上的谐振力矩的目的. 最后通过Simulink仿真和实验证明该方法具有良好的控制性 能, 不仅可以有效消除钢丝绳上的谐振, 并且能进一步减小摆角.

Nonlinear resonance modeling and harmonic elimination control of crane wire rope

For the underactuated cranes, the existing methods only consider how to eliminate the swing angle. However, there may still be serious resonance on the wire rope when the swing angle of the wire rope is very small. Aiming at the problem of harmonic elimination of crane, a nonlinear resonant torque model based on a wire rope motor shaft is proposed in this paper. Specifically, firstly, a nonlinear resonance torque model is established by using the method of vibration mechanics. The model can reduce the nonlinear resonance torque on the steel wire rope to the motor shaft, and then adjust the output torque of the motor through the motor controller, so that a nonlinear resonance torque with equal size and opposite direction is superimposed on the main torque of the fundamental wave output by the motor, so as to eliminate the resonance torque on the steel wire rope. Finally, the Simulink simulation and experiments show that this method has good control performance, which can not only effectively eliminate the resonance on the steel wire rope, but also further reduce the swing angle.