时变输入整形在桥式起重机防摆控制中的应用

输入整形技术在抑制柔性系统残留振荡方面得到了比较广泛的应用;然而在处理时变系统时,传统的输入整形器的鲁棒性能受到了很大限制,控制效果往往并不理想。在频域采用零点配置方法设计出了最优随机时滞滤波器,进一步在此基础上进行时变输入整形器的设计,并在桥式起重机的防摆控制中进行了应用研究。该时变整形器通过在线反馈起重机的振动频率和阻尼,实时地调节整形器中脉冲的时间位置和幅值,从而更加有效地抑制系统的残留振荡。仿真结果证明了该方法的良好性能,和传统的鲁棒输入整形器进行了性能比较,该方法对系统参数变化的鲁棒性更强,能够更加有效地抑制负载的残留振荡,同时缩短了运行时间,提高了作业效率。

Time-varying Input Shaping Applied to Anti-swing Control of Overhead Cranes

Input shaping technology is widely used to reduce residual vibrations of flexible systems. But in designing time-varying systems, the conventional input shaping method is not very effective because of the restrained robustness. Zero placement method in the frequency domain was utilized to work out optimal arbitrary time-delay filter (OATF), on the basis of which time-varying input shaping was studied, with application to anti-swing control of overhead cranes. The time locations and amplitudes of the impulses of the time-varying input shaper were adjusted based on online feedback of the oscillation frequency and damping ratio of the crane in order to reduce the residual vibrations efficiently. Simulation results verify the fine performance of the proposed TVIST. Compared with the conventional input shaping method, the proposed method is more robust to the parameter variations, and can reduce the residual vibrations more efficiently. Besides, the time-varying input shaper is of shorter duration, and able to improve the operational efficiency.