Motion planning and control of gantry cranes in cluttered work environment
Motion planning and control of gantry cranes in cluttered work environment
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DOI：
10.1049/iet-cta:20060439
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发表时间：
2007-08
影响因子：
2.6
通讯作者：
W. Blajer;K. Kołodziejczyk
中科院分区：
文献类型：
--
作者：
W. Blajer;K. Kołodziejczyk
由于可能由起重机运动和外部扰动引起的不期望的载荷偏移，用龙门起重机操纵有效载荷是具有挑战性的。当工作环境中充满障碍物时，问题变得越来越困难，必须避免，从而需要适当的负载轨迹规划和更谨慎的起重策略。轨迹首先由工作空间中的一系列点绘制，然后用样条函数近似。然后施加沿着指定轨迹的静止到静止载荷运动，从而产生省略障碍物的协调机动。起重机执行负载运动的控制被看作是一个逆动力学问题，强烈的欠驱动系统的性质的影响。由此产生的控制微分代数方程使人们能够分析起重机的动力学和综合其控制在指定的运动。通过具有负载位置中的实际误差的反馈的闭环控制来增强以这种方式获得的开环控制，以在存在扰动和建模不一致的情况下提供参考轨迹的稳定跟踪。数值模拟的一些结果的报告。
Manipulating payloads with gantry cranes is challenging due to possible undesirable load pendulations induced by the crane motion and external perturbations. When the work environment is cluttered with obstacles, the problem gets increasingly difficult, which must be avoided, resulting in the need for appropriate load trajectory planning and more cautious craning strategy. The trajectory is first sketched by a series of points in the work space, and then approximated by spline functions. A rest-to-rest load motion along the specified trajectory is then imposed, resulting in one coordinated manoeuvre that omits the obstacles. The control of crane executing the load motion is viewed as an inverse dynamics problem, strongly influenced by the underactuated nature of the system. The arising governing differential-algebraic equations enable one for the analysis of crane dynamics and synthesis of its control in the specified motion. The open-loop control obtained this way is enhanced by a closed-loop control with feedback of the actual errors in load position to provide stable tracking of the reference trajectory in presence of perturbations and modelling inconsistencies. Some results of numerical simulations are reported.