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首页> 外文会议>Third World Conference on Structural Control Vol.1 Apr 7-11, 2002 Como, Italy >A Delayed-Position Feedback Controller For Cranes
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A Delayed-Position Feedback Controller For Cranes

机译：起重机的延迟位置反馈控制器

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We have designed and implemented a controller that suppresses cargo pendulation on most common military and commercial cranes. The controller is based on delayed-position feedback and has been applied to three of the most commonly used cranes: ship-mounted boom cranes, tower cranes, and container cranes. Such a control can be achieved with the heavy equipment that is already part of existing cranes so that retrofitting them would require a small effort. Moreover, the controller is designed to operate transparently to the crane operator, thereby eliminating any special training requirements for crane operators and furnishing smoother and faster transport operations. Ship-mounted cranes are used to transfer cargo from large container ships to smaller lighters when deep-water ports are not available. The wave-induced motion of the crane ship can produce large pendulations of cargo being hoisted and cause operations to be suspended. In this application, the control strategy is based on delayed feedback of the angles of the cargo-hoisting cable in and out of the plane of the boom and crane tower. Its effectiveness is demonstrated in a fully nonlinear three-dimensional computer simulation and in an experiment with a l/24th-scale model of a T -ACS (The Auxiliary Crane Ship) crane mounted on a platform moving with three degrees of freedom. In rotary cranes, payload pendulations can be reduced significantly by con- trolling the crane's translational and rotational degrees of freedom. The control strategy is based on delayed position feedback of the payload's in-plane and out- of-plane motions. The effectiveness of the controller is demonstrated with a fully nonlinear three-dimensional computer simulation and with an experiment on a scaled model of a rotary crane, operating in both the rotary and gantry modes. In all three types of cranes, the results demonstrate that the pendulations can be significantly reduced, and therefore the rate of operation can be greatly increased and the range of sea conditions in which cargo-transfer operations can take place can be greatly expanded.
机译：我们已经设计并实现了一种控制器，可以抑制大多数普通军用和商用起重机上的货物晃动。该控制器基于延迟位置反馈，已应用于三种最常用的起重机：船用吊臂起重机，塔式起重机和集装箱起重机。这样的控制可以通过已经是现有起重机一部分的重型设备来实现，因此对其进行改造将需要少量的精力。此外，该控制器的设计使起重机操作员可以透明地操作，从而消除了对起重机操作员的任何特殊培训要求，并提供了更平稳，更快速的运输操作。当没有深水港时，船用起重机用于将货物从大型集装箱船转移到较小的打火机。起重机船的波浪引起的运动会产生大量的吊装货物，使作业暂停。在此应用中，控制策略基于对起重臂和起重机塔平面进出货物吊索角度的延迟反馈。在完全非线性的三维计算机仿真中以及在安装在以三个自由度运动的平台上的T-ACS（辅助起重机船）起重机的L / 24比例模型进行的实验中，证明了其有效性。在旋转式起重机中，通过控制起重机的平移和旋转自由度，可以显着减少有效载荷的摆动。控制策略基于有效载荷的平面内和平面外运动的延迟位置反馈。控制器的有效性通过完全非线性的三维计算机仿真以及在旋转和龙门两种模式下运行的旋转起重机的比例模型上的实验得到了证明。结果表明，在所有这三种类型的起重机中，摆渡都可以显着减少，因此可以大大提高操作速度，并且可以大大扩展可以进行货物转运操作的海况范围。

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