【作者】 曹涛；

【导师】 李伟；

【作者基本信息】 山东建筑大学 ， 检测技术与自动化装置， 2007， 硕士

【摘要】 起重机是目前最主要起吊搬运设备之一,大量应用于建筑业、制造业以及港口运输业。消除起重机载荷的摆动,可以有效的提高工作效率,对我国的起重机械的发展是非常有意义的。起重机载荷摆振主要是由载荷的水平运动引起的。载荷摆振的存在限制了起重机的水平运行速度、延长了起重机的辅助工作时间、降低了起重机的载荷就位精度、给起重机机身造成了周期性载荷,生产效率比较低。这在大中型高速起重机的应用中尤为突出。研究载荷摆振的特征,建立起重机水平运动的载荷三维摆振模型,探索起重机消摆控制规律,对系统模型进行分析综合,提出一种起重机的最优消摆算法,研制一种以此理论为基础的起重机消摆操作器,迫在眉睫。该操作器由起重机司机操作,将消摆和小车的水平运行控制结合起来,不依赖于司机的操作经验使载荷迅速、准确定位,以进一步提高起重机的工作效率和自动化程度。载荷水平运动引起的起重机载荷摆振是确定性的,可以事先唯一地求出。可由此设计出一种最优控制器,按照二次型最优消摆规律消除载荷摆振。本文提出了一种消摆控制方法,这种方法是开环的,不需要角度传感器或角加速度传感器,降低了消摆控制系统的造价,提高了可靠性。这种方法只能消除确定性扰动造成的载荷摆振,对随机干扰造成的摆振无效。在工程上起重机的载荷摆振基本上都是由载荷水平运动引起的,所以这种控制方法既简便,同时又具有很强的实用性。更多还原

【Abstract】 Crane is one of the frequently used carrying equipment. Its mass use is in the architecture, manufacturing and port transportation. To suppress the load sway is of great benefit to enhance the working efficiency. And it is very important to the progress of our country’s lifting appliances.Crane’s horizontal motion is the main reason to rise the load sway. The existence of load sway suppressed the crab’s horizontal motion speed, prolonged the crane assistant operation time, reduced the load halting precision, resulted in a large periodical load to the crane, thence the crane work efficiency is lowed. It is more distinctly in the application of good-sized and medium-sized high-speeded cranes. It is urgency to design load sway characteristics, construct the three-dimensional sway model of crane horizontal motion, research crane anti-sway arithmetic, execute the analyse and synthesis of crane model, put forward an optimal anti-sway arithmetic and design an anti-sway crane controller based on the above theories. The crane controller combine the anti-sway with crab horizontal motion and it is independent of crane driver’s operational experience. The controller can make the load halted rapidly and accurately which enhanced the crane’s work efficiency and automation degree.For this kind of motions is determinate, it is feasible to be worked out uniquely in advance and design an optimal controller to suppress the load sway according to the quadratic optimal law. We proposed arithmetic to suppress the load sway. The method is open-looped, it have no use for angle and angle-acceleration transducer, which reduced the cost of the anti-sway control system and promoted system’s dependability. Such method can but suppress the load sway generated by determinate disturbance, and is of no effect on random disturbance. The method is very simple and convenient but with great practicality for in engineering the crane load sway is mainly generated by horizontal motions.更多还原