噪声与振动控制2019，Vol.39Issue(3)：99-102,4.DOI:10.3969/j.issn.1006-1355.2019.03.019
吊杆式起重机二维摆动的防摆控制研究
Study on Suppression of Two-dimensional Load-sway in Boom Cranes
摘要
Abstract
Rotary motion of boom cranes usually generates undesirable two-dimensional load-sway, which will reduce the working efficiency and may cause the collision with the surrounding workers and goods. Therefore, crane operators must be highly skilled to control the crane’s motion. To reduce the burden on the human operators, automatic control systems that can simultaneously control the boom’s position and suppress the unwanted load-sway have been widely investigated. In most existing control schemes, both horizontal and vertical boom motion must be used to suppress the load-sway. But these schemes are complex and costly. In this paper, a nonlinear controller design that enables both boom positioning and load-sway suppression only using rotary motion is presented. Through the Lyapunov stability theory, the stability of the controller is proved. Numerical simulation results demonstrate the effectiveness of the proposed method.关键词
振动与波/吊杆式起重机/防摆控制/回转运动/非线性控制器Key words
vibration and wave/ boom crane/ sway control/ rotary motion/ nonlinear controller分类
通用工业技术引用本文复制引用
贾鹏霄,周越,李鑫伟..吊杆式起重机二维摆动的防摆控制研究[J].噪声与振动控制,2019,39(3):99-102,4.基金项目
上海申通地铁集团有限公司技术中心合作项目资助(JSKY17R041) （JSKY17R041）
