农业装备与车辆工程2025，Vol.63Issue(11)：72-76,5.DOI:10.3969/j.issn.1673-3142.2025.11.012
基于输入整形的桥式起重机防摇控制方法研究
Research on anti-sway control method for bridge cranes based on input shaping
摘要
Abstract
To address residual load sway caused by acceleration/deceleration excitation during trapezoidal velocity curve operation,a sway suppression control method based on input shaping was proposed in this study.A bridge crane dynamic model was established using the Lagrange dynamics approach,and a typical second-order oscillatory system model was formulated.Acceleration commands were preprocessed by designing ZV and ZVD shapers,and system performance was comprehensively evaluated through time-domain and frequency-domain response analysis.Research results demonstrated that the proposed method effectively suppressed oscillations,with the ZVD shaper exhibiting superior robustness.This approach maintained stable anti-sway control performance,providing both theoretical justification and practical value for sway suppression in bridge cranes.关键词
动力学模型/二阶振荡系统/输入整形/时域响应/频域响应Key words
dynamical model/second-order oscillator system/input shaping/time-domain response/frequency-domain response分类
机械制造引用本文复制引用
文学,邓超峰,朱梅玉,王烨,刘粤洺,罗宇,张祚彦..基于输入整形的桥式起重机防摇控制方法研究[J].农业装备与车辆工程,2025,63(11):72-76,5.基金项目
区域联合基金项目"大纵深超薄筒形件旋压状态监测及关键工艺参数优化技术研究"(2025JJ70197) （2025JJ70197）
区域联合基金项目"锂电池极片射流冲击干燥传热传质特性与喷嘴结构参数优化研究"(2025JJ70222) （2025JJ70222）
邵阳学院研究生科研创新项目"多扰动下欠驱动桥式行车消摆控制策略研究"(CX2024SY057) （CX2024SY057）
邵阳学院研究生科研创新项目"多自由度齿轮故障演化与诊断预测技术研究"(CX2024SY042) （CX2024SY042）
