The invention relates to an anti-swing model establishment method based on optimal open-loop control and LQR. The method can effectively solve the problems that when lifting equipment works, a lifted heavy object has the influence of inertia force, the phenomenon of left-right swing often occurs, if an operator cannot well control a lifting appliance to eliminate swing, if light, the whole working efficiency is influenced, and if heavy, safety accidents are caused. According to the technical scheme for solving the problems, firstly, a dynamic model of a trolley load system is established through a Lagrange equation, the movement rule of trolley and load swing is obtained, and on the basis, an anti-swing control model is actually developed and established; and accurate positioning is achieved, the accumulated sum of swing angles in the movement process is minimum, time is short, the model is successfully applied to quay cranes and tire crane equipment, and good economic and social benefits are achieved.
本发明涉及基于最优开环控制及LQR的防摇模型建立方法,可有效解决起吊设备在工作时被起吊重物具有惯性力的影响,经常会出现左右摇摆现象,如果操作人员不能很好的控制吊具以消除摇摆,轻则会影响整个工作效率问题,重则会引发安全事故的问题,其解决的技术方案是,首先通过拉格朗日方程建立小车负载系统的动态模型,得出小车与负载摆动的运动规律,在此基础上,实际开发搭建防摇控制模型,做到了定位准确和运动过程中摆角得累积和最小且时间短,成功将该模型应用在岸桥和轮胎吊设备中,具有良好的经济和社会效益。
Anti-swing model establishment method based on optimal open-loop control and LQR
一种基于最优开环控制及LQR的防摇模型建立方法
2021-11-05
Patent
Electronic Resource
Chinese
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