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首页> 外文会议>DSC-vol.73-2; American Society of Mechanical Engineers(ASME) International Mechanical Engineering Congress and Exposition pt.B; 20041113-19; Anaheim,CA(US) >A NEW TRAJECTORY-GENERATION SCHEME FOR OVERHEAD CRANES WITH HIGH-SPEED LOAD HOISTING
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A NEW TRAJECTORY-GENERATION SCHEME FOR OVERHEAD CRANES WITH HIGH-SPEED LOAD HOISTING

机译：高载荷提升的高架轨道生成新方案

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摘要

This paper proposes a new trajectory-generation scheme for a high-performance anti-swing control of overhead cranes, where the trajectory-generation problem is solved as a kinematic problem. First, a new anti-swing control law is designed based on the load-swing dynamics, for which the Lyapunov stability theorem is used as a mathematical tool. Then a new trajectory-generation scheme is proposed based on the anti-swing control law and typical crane operation in practice. For given hoisting motions, trolley-traveling trajectory references are computed based on the concept of minimum-time control, and then anti-swing trajectories are generated based on the trajectory references through the anti-swing control law. The new trajectory-generation scheme generates a typical anti-swing trajectory in industry with high-speed load hoisting. The effectiveness of the proposed trajectory-generation scheme is shown by generating high-performance anti-swing trajectories with high hoisting speed and hoisting ratio.
机译：本文提出了一种新的轨迹生成方案，用于桥式起重机的高性能防摆控制，其中轨迹生成问题作为运动学问题得以解决。首先，基于载荷-摆动动力学设计了一种新的防摆动控制律，为此，将李雅普诺夫稳定性定理用作数学工具。然后根据实际的防摆控制规律和典型的起重机操作提出了一种新的轨迹生成方案。对于给定的起升运动，基于最小时间控制的概念来计算手推车行进轨迹参考值，然后根据轨迹参考值通过防摆控制律生成防摆轨迹。新的轨迹生成方案可在工业中通过高速负载提升来生成典型的防摆动轨迹。通过产生具有高提升速度和提升比的高性能防摇摆轨迹，表明了所提出的轨迹生成方案的有效性。

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