有限冲击最优时滞滤波器抑制起重机载荷残留摆动

将时滞滤波技术用于高速、大吨位起重机控制系统中,可以有效抑制载荷残留摆动,同时会引起运行机构的运动冲击,而且降低系统的响应速度.针对这一问题,基于有限冲击理论和优化理论,提出有限冲击最优时滞滤波器.基于减小柔性系统刚体运动冲击的基本思想,设计有限冲击控制指令,抑制控制信号的高频成份,降低未建模动态激励.然后以载荷摆动状态矢量建立二次型目标函数,基于优化理论计算出使载荷摆动最小的时滞,设计出具有合理时滞的最优时滞滤波器,保证系统具有满意的响应速度.该滤波器形成的控制信号是一系列的斜坡信号,对时间的变化率不超过允许的最大冲击值,从而降低了刚体的运动冲击.建立起重机仿真系统和模拟实验系统,基于仿真和试验相结合的方法验证了这一控制技术的有效性.

LIMITED-JERK OPTIMAL TIME-DELAYED FILTER SUPPRESSING RESIDUAL OSCILATION OF CRANE PAYLOAD

When time-delayed filtering techniques are used in the high speed and large tonnage cranes, the residual oscillations of the payload can be efficiently suppressed, simultaneously, impact motion of drive mechanism is induced and the response speed of the system is slowed. Aiming at theproblems, the limited-jerk optimal time-delayed filter, which combines the limited-jerk theory and optimization theory, is presented. Based on the idea of reducing motion impact of the rigid body in flexible systems, the limited-jerk control command is designed, which can suppress the high frequency components in the control input and reduce the excitation to un-modeled harmonic modes. Then, taking the state vector of payload oscillation as quadratic objective function, the delay time with the least payload swing is calculated according to the optimization theory and the optimal time-delayed filter with appropriate time-delay is developed, which make the system have satisfying response speed. The limited-jerk control commands from the filter are composed of a sequence of ramp signals, whose time-ratio of variation will not exceed the permissible value, thus the motion impact of rigid body is suppressed. A set of simulation system and a set of experiment system for gantry cranes are built, in which the validity of the proposed control technique are proven.