桥式起重机运行过程中的消摆控制

针对桥式起重机工作过程中由于偏吊、风载或控制不当引起的2阶段加减速[1]法无法消除的吊重摆动,通过建立起重机吊重摆角非惯性系模型、根据能量守恒定律推导了小车运行过程中如何通过梯形速度变换来防摇的策略,并使用Matlab拟合简化了算式,提出了具体的防摇策略.将该策略使用小车——吊重系统动力学模型进行仿真,证明该策略有效.

Anti-swing control for overhead travelling crane during operation

Aiming at the lifting load swing which cannot be eliminated by stage-2 speed-up and -down method arising from bias hoisting, wind load or improper control during operation of the overhead travelling crane, the non-inertial model of crane load swing angle is established, the strategy of how to prevent swing by trapezoid speed transformation during the trolley operating process is deduced based on law of conservation of energy, and the Matlab fitting is used to simplified the equation, with detailed anti-swing strategy proposed. Simulation of this strategy is performed using trolley-load system dy- namics model, which proves effectiveness of the strategy.