基于高斯伪谱法的双摆桥起消摆策略分析

为了解决桥式起重机钢丝绳和负载的双摆问题，本文提出采用高斯伪谱法实现消摆。深入分析了影响吊具与负载摆动的控制因素，通过系统运动状态运用拉格朗日方程建立了双摆桥起动力学模型和最优控制模型，依靠相同运动曲线的输入验证了模型的有效性；将原最优控制问题转换为高斯伪谱形式，采用高斯伪谱法直接对建立的模型进行分析并在有限时间内获得最优解。仿真实验结果表明：采用高斯伪谱法能够有效实现消摆，控制结果与其他控制方法作比较，进一步证明了高斯伪谱法的优越性及有效性。

Analysis and Research on Anti-swing Strategy of Double Pendulum Bridge Crane Based on the Gauss Pseudo-spectral Method

In order to solve the double pendulum problem of bridge crane wire rope and load, this paper proposes a gauss pseudo-spectral method to realize the anti-swing strategy. The control factors affecting the swing of suspension and load are analyzed in depth. Applying Lagrange equation, the dynamic model and optimal control model of double pendulum bridge are established by calculating the system motion state. The validity of models are verified by the input of the same motion curve. The original optimal control problem is transformed into the form of Gauss pseudo-spectrum. The model is analyzed directly by the gauss pseudo-spectral method and the optimal solution is obtained in finite time. The simulation results show that gauss pseudo-spectral method can effectively anti-swing. The control results are compared with other control methods, which further proves the superiority and effectiveness of the gauss pseudo-spectral method.