A payload swing suppression guaranteed emergency braking method for underactuated overhead cranes
A payload swing suppression guaranteed emergency braking method for underactuated overhead cranes
复制标题
欠驱动桥式起重机有效载荷摆动抑制保证紧急制动方法
DOI：
10.1177/1077546317731967
复制
发表时间：
2018
影响因子：
2.8
通讯作者：
Ning Sun
中科院分区：
文献类型：
--
作者：
He Chen;Yongchun Fang;Ning Sun
在实际应用中，由于工作环境的复杂性，桥式起重机的紧急制动问题一直是一个重要的问题。为了确保安全，避免碰撞等事故，当起重机系统需要制动时，不仅要考虑小车位移，还要考虑有效载荷的摆动。然而，最常用的工业制动方法，立即停止小车，可能会导致不可避免的严重的有效载荷摆动，由于缺乏对系统状态耦合的考虑。考虑到这一事实，以获得更好的制动控制性能，本文提出了一种新的紧急制动方法，成功地抑制了有效载荷在制动过程中摆动。特别是，制动目标分为两部分，与一个有效的控制器设计分开。然后将各个控制器进行适当的组合，得到一个完整的制动控制器，该控制器可以实现快速的小车制动和有效的负载摆动抑制。最后，仿真和实验测试都包括在本文中，以说明所提出的方法令人满意的控制性能。
In practice, since the working environments are usually complex, the emergency braking problem has been an important issue for overhead crane applications. To ensure safety and avoid accidents such as collision, when braking is required for a crane system, not only the trolley displacement, but also the payload swing, should be considered. However, the most commonly used industrial braking method, which stops the trolley immediately, may cause unavoidable severe payload swing, due to the lack of consideration for the system state couplings. Considering this fact, to obtain better braking control performance, in this paper, a novel emergency braking method is proposed, which successfully suppresses the payload swing during the braking process. In particular, the braking objective is divided into two parts, with an effective controller designed separately. Then a complete braking controller is obtained by combining the separate controllers properly, which can achieve fast trolley braking and efficient payload swing suppression. Finally, both simulation and experimental tests are included in this paper to illustrate the satisfactory control performance of the proposed method.