考虑钢丝绳抖振情况下的塔式吊车消摆控制方法

塔式吊车系统负载摆角的抑制对于其安全运行至关重要，现有的消摆控制方法在抑制摆角方面取得了不错的效果，但这些控制方法均未考虑钢丝绳连同负载发生抖振的情况，存在安全隐患。针对此问题，提出一种考虑钢丝绳抖振情况下的塔式吊车系统摆角抑制方法。具体而言，首先建立塔式吊车水平运动时的非线性抖振机理模型，计算出系统发生抖振后传导到电机主轴上的非线性抖振力矩，并将该抖振力矩等值反向作为补偿力矩。其次，利用陷波器滤除补偿力矩外的其他干扰，再将补偿力矩与一种滑模消摆控制律计算出的控制力矩相叠加，控制驱动电机力矩输出。最后，仿真和实验结果表明提出的消摆方法对于摆角的抑制具有更好的控制效果。

Anti-swing Control Method of Tower Crane Considering Wire Rope Buffeting

The suppression of load swing angle of tower crane system is crucial for its safe operation. The existing anti-swing control methods have achieved good results in restraining the swing angle. However, these anti-swing control methods do not consider the buffeting of steel wire rope and load, which poses potential safety hazards. To solve this problem, a method to suppress the swing angle of tower crane system considering wire rope buffeting is proposed. Specifically, firstly, the nonlinear buffeting mechanism model is established for the tower crane in a horizontal motion, and then the nonlinear buffeting torque transmitted to the main shaft of the motor after the buffeting of the system is calculated, the equivalent reverse of the buffeting torque is used as the compensating torque. Secondly, the notch filter is used to filter out other disturbances apart from the compensating torque; after that, the compensating torque is superposed with the control torque calculated by a sliding mode anti-sway control law to control the output torque of the drive motor. Finally, the simulation and experimental results demonstrate that the proposed method achieves better control effectiveness in the pendulum angle suppression.