本文關(guān)鍵詞： 起重機(jī)系統(tǒng) 防擺控制 時滯位移反饋 中立型時滯微分方程 穩(wěn)定性切換 DDE Solver　出處：《南京航空航天大學(xué)》2012年碩士論文　論文類型：學(xué)位論文

【摘要】：起重機(jī)是現(xiàn)代生產(chǎn)中不可或缺的一種機(jī)械設(shè)備，在各個生產(chǎn)領(lǐng)域都有著廣泛的應(yīng)用，從而實(shí)現(xiàn)了生產(chǎn)機(jī)械化，帶來了經(jīng)濟(jì)效益。但是起重機(jī)在作業(yè)過程中會產(chǎn)生負(fù)載擺動，嚴(yán)重影響了工作效率及安全性能。為了使起重機(jī)能安全、高效的工作，，亟需設(shè)計出有效的控制方法來抑制系統(tǒng)的擺動。本課題即是在此背景下，對起重機(jī)吊擺系統(tǒng)進(jìn)行動力學(xué)分析與防擺控制的研究。 本文以模型相對復(fù)雜的塔式起重機(jī)和挺桿式起重機(jī)吊擺系統(tǒng)為研究對象，建立了兩種系統(tǒng)的三維非線性動力學(xué)模型，采用軟件Matlab對兩種系統(tǒng)進(jìn)行了動力學(xué)特性分析，從系統(tǒng)響應(yīng)、運(yùn)動相圖以及運(yùn)動軌跡三個方面詳細(xì)研究了系統(tǒng)在不同運(yùn)動作業(yè)形式和不同初始條件下的動力學(xué)特性，得到系統(tǒng)在各種外在條件影響下的運(yùn)動規(guī)律。 基于準(zhǔn)確的數(shù)學(xué)模型，本文提出了時滯位移反饋控制方法，依據(jù)兩種系統(tǒng)自身的運(yùn)動形式，理論推導(dǎo)出了兩種系統(tǒng)的控制方程，結(jié)果顯示兩種控制方程均為非線性、中立型時滯微分方程。根據(jù)方程特點(diǎn)，采用穩(wěn)定性切換方法對兩種系統(tǒng)的控制方程進(jìn)行了穩(wěn)定性分析，得到了穩(wěn)定性區(qū)域圖以及控制參數(shù)與系統(tǒng)阻尼的關(guān)系，這為選取合適的控制參數(shù)提供了理論依據(jù)。 為了驗(yàn)證控制方法的有效性，本文采用基于FORTRAN語言編寫的DDE Solver程序進(jìn)行求解。數(shù)值求解了兩種系統(tǒng)在不同作業(yè)運(yùn)動形式和不同初始條件下的運(yùn)動響應(yīng)，并與無控系統(tǒng)響應(yīng)相比較，仿真結(jié)果表明，該控制方法能有效抑制兩種吊擺系統(tǒng)的擺動，且對外界干擾影響較小。
[Abstract]:Crane is an indispensable mechanical equipment in modern production, which has been widely used in various fields of production, thus realizing production mechanization. It brings economic benefits, but the crane will produce load swing in the process of operation, which seriously affects the work efficiency and safety performance. In order to make the crane work safely and efficiently. There is an urgent need to design an effective control method to suppress the swing of the system. Under this background, the dynamic analysis and anti-swing control of the crane hoisting system are studied in this paper. In this paper, three dimensional nonlinear dynamic models of tower crane and tappet crane pendulum system are established. The dynamic characteristics of the two systems are analyzed by software Matlab, and the response of the two systems is analyzed. The dynamic characteristics of the system under different motion operation forms and different initial conditions are studied in detail from three aspects of motion phase diagram and motion trajectory. The motion laws of the system under various external conditions are obtained. Based on the accurate mathematical model, a time-delay displacement feedback control method is proposed in this paper. According to the motion forms of the two systems, the control equations of the two systems are derived theoretically. The results show that the two control equations are nonlinear and neutral delay differential equations. According to the characteristics of the equations, the stability analysis of the control equations of the two systems is carried out by using the stability switching method. The stability region diagram and the relation between control parameters and system damping are obtained, which provides a theoretical basis for selecting appropriate control parameters. In order to verify the effectiveness of the control method. In this paper, DDE Solver program based on FORTRAN language is used to solve the problem, and the motion responses of two systems under different operation forms and different initial conditions are numerically solved. The simulation results show that the proposed control method can suppress the swing of the two pendulum systems effectively and has little effect on the external disturbance.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH21

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