具有双摆效应的欠驱动旋转起重机消摆控制关键问题研究

The acceleration and deceleration motions of boom typically generates load sway during the transferring processing and at the desired position, especially, when the hook mass is not negligible or the load is not seen as a mass point, the load sway will exhibit more complex double-pendulum effect which seriously degrades their safety and effectiveness. This project aims to explore the theoretical problems and technical solutions which will be solved urgently in the field of rotary crane control, and carries out the following researches: ① establishing a rotary crane model with double-pendulum effect, and fully analyzing the dynamic characteristics of the double-pendulum system under various working conditions, which provides guidance for controller design; ② proposing a design scheme based on S-shaped curve trajectory planning theory, which provides new idea for achieving residual load sway suppressing of the rotary crane; ③ proposing a design scheme based on sliding mode control with nonlinear sliding mode surface theory, which provides new method for achieving high speed and high precision boom positioning and load sway suppression control simultaneously. ④ proposing a nonlinear load sway observer based on support vector regression theory, which provides a good solution for the closed-loop control of the sway angle and the improved robustness of the system. The innovative research of this project will provide sufficient theoretical basis and technical solutions to solve the bottleneck problem which restricts the further development of the crane industry as soon as possible, meanwhile it has a good role in promoting for improving underactuated system control theory.

旋臂的加减速运动会使荷载在运送过程中和停止后产生摆动，特别地，当吊钩质量无法忽视或荷载无法视为质点时，该摆动会呈现出更为复杂的两级摆动特性，严重降低了系统的安全性和工作效率。本项目旨在探索旋转起重机系统控制领域亟待解决的理论问题和技术方案，开展以下几个方面的研究：①建立含有双摆效应的起重机模型，并分析双摆系统在各工况条件下的动力学特性，为控制器的设计提供指导；②提出基于S型曲线轨迹规划理论的设计方案，为实现起重机残留双摆抑制提供新思路；③提出基于具有非线性滑模面的滑模控制理论的设计方案，为同时实现起重机旋臂快速高精度定位和双摆控制提供新手段；④提出基于支持向量回归理论的非线性摆角观测器设计方案，为实现摆角闭环控制，提高系统鲁棒性提供很好的解决思路。本项目的创新性研究将会为尽快解决制约起重机行业进一步发展的瓶颈问题提供充分的理论依据和技术方案，同时为完善欠驱动系统控制理论起到良好的促进作用。

旋臂的加减速运动会使荷载在运送过程中和停止后产生摆动，特别地，当吊钩质量无法忽视或荷载无法视为质点时，该摆动会呈现出更为复杂的两级摆动特性，严重降低了系统的安全性和工作效率。本项目旨在探索旋转起重机系统控制领域亟待解决的理论问题和技术方案，开展了以下几个方面的研究：①建立了含有双摆效应的起重机模型，并进行了线性化处理，为后续控制器的设计打下了基础；②提出基于S型曲线轨迹规划理论的设计方案，实现了起重机残留双摆抑制的有效抑制；③提出了基于线性矩阵不等式控制理论的设计方案，实现了起重机的鲁棒控制；④提出了基于具有非线性滑模面的滑模控制理论的设计方案，实现了起重机旋臂快速高精度定位和双摆控制。本项目的创新性研究为尽快解决制约起重机行业进一步发展的瓶颈问题提供了一定的理论依据和技术方案，同时为完善欠驱动系统控制理论起到了良好的促进作用。