基于Simulink的液压起重机吊重摆动控制的仿真-《集美大学学报（自然科学版）》

文章信息/Info

Title:: Simulation of Payload Swing Control of Hydraulic Crane Based on Simulink

作者:: 陈明亮1; 2; 朱钰1; 2; 尹自斌1; 2; 1．集美大学轮机工程学院，福建厦门 361021；2．福建省船舶与海洋工程重点实验室，福建厦门 361021

Author(s):: CHEN Mingliang1; 2; ZHU Yu1; 2; YIN Zibin1; 2; 1.School of Marine Engineering,Jimei University,Xiamen 361021,China;2.Fujian Provincial Key Laboratory of Naval Architecture and Ocean Engineering,Xiamen 361021,China)

Keywords:: hydraulic crane; payload swing; zero vibration and zero derivative(ZVD); numerical simulation

摘要:: 为了解决起重机在工作时出现的吊重摆动的问题，以实验室液压起重机为研究对象，建立其液压操作系统和吊重摆动系统的数学模型，并利用MATLAB/Simulink仿真平台建立仿真模型，根据实际情况增加阻尼系数；在模型中设计基于吊重绳长为控制变量的零振动零导数（zero vibration and zero derivative，ZVD），并将其输入整形控制器，仿真研究起重机在3个执行机构联合操作下吊重的摆动情况。仿真结果表明：在ZVD输入整形控制器的操作模式下，对比常规操作，起重机吊重的强制摆动幅度和惯性摆动幅度平均下降56.43%、96.78%，说明采用吊重绳长作为唯一控制参数的ZVD输入整形控制器可以简便有效地控制起重机吊重的摆动。

Abstract:: In order to solve the problem of payload swing during the operation of the crane,taking the hydraulic crane in the laboratory as the object,the mathematical models of its hydraulic operation system and the swinging system of payload were established,and the simulation models were established by using the Matlab/Simulink simulation platform.During the simulations,the swing damping was increased,and a zero vibration and zero derivative(ZVD) input shaping controller was then designed as per the length of lifting rope,the swing of the payload was further studied under the joint operation of the three actuators of the crane.The results showed that the forced swing amplitude and inertial swing amplitude of crane were reduced by 56.43% and 96.78% on average,compared with those of the conventional operation under various operation modes with the crane shaping controller.This proved that using the length of the lifting rope as the only control parameter for the ZVD input shaping controller could effectively control the payload swing.