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首页> 外文会议>IEEE Internationa Conference on Real-time Computing and Robotics >Residual load sway reduction for double-pendulum overhead cranes using simple motion trajectory
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Residual load sway reduction for double-pendulum overhead cranes using simple motion trajectory

机译：使用简单的运动轨迹来减少双摆式桥式起重机的残余载荷摇摆

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摘要

When the hook mass is larger than the load mass or the load has distributed mass property, the load sway of the crane system presents as double-pendulum effect. In this situation, crane system has two different natural frequencies so that the sway characteristic becomes more complex and greatly increases the difficulty of the dynamic performance analysis and controller design. In order to solve the aforementioned problems, the linear dynamics of a 2-D overhead crane with double-pendulum effect is derived based on a disturbance observer, and is decoupled for controller design by modal analysis. Next, an S-shaped curve which is widely used in industrial applications is generated on the basis of the decoupled linear crane model for suppressing residual double-pendulum load sway. Parameters of the trajectory can be easily obtained by calculating algebraic equations. Finally, simulation results validate the effectiveness of the proposed method.
机译：当吊钩质量大于负载质量或负载具有分布的质量属性时，起重机系统的负载摆幅表现为双摆效应。在这种情况下，起重机系统具有两个不同的固有频率，因此摇摆特性变得更加复杂，大大增加了动态性能分析和控制器设计的难度。为了解决上述问题，基于扰动观测器推导了具有双摆效应的2-D桥式起重机的线性动力学特性，并通过模态分析将其解耦用于控制器设计。接下来，在解耦线性起重机模型的基础上，产生了一个S型曲线，该曲线在工业应用中得到了广泛应用，用于抑制残余的双摆载荷摇摆。通过计算代数方程可以容易地获得轨迹的参数。最后，仿真结果验证了该方法的有效性。

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