Abstract:

Aiming at the problems of poor precision, low operation efficiency and low security due to the load oscillation of luffing motion for crane,an error asymptotic compensation control method was proposed to minimize the sway angle of load. Based on the analysis of error asymptotic compensation control theory, the error asymptotic compensation controller was designed. Through appropriate adjustments to the two stage compensation coefficients, the sway angle of the lifted load was gradually decreased, meanwhile, the requirements of the acceleration and the pump displacement were met. The MATLAB simulation results show that error asymptotic compensation controller has good robustness and control precision for different ropes and jib lengths. After the crane began to brake, the sway angle is reduced to below 0.003rad in 10 seconds.

Key words: crane, luffing motion, load oscillation, error asymptotic compensation controller

摘要：

针对起重机变幅运动过程中吊重摆动造成的就位精度差、工作效率低和作业不安全等问题，提出了一种误差渐进补偿控制方法，以减小吊重摆动。在分析误差渐进补偿控制原理的基础上，设计了误差渐进补偿控制器。采用变补偿系数控制方法，在实现吊绳摆角渐进减小的同时满足了变幅加速度和液压泵排量的要求。运用MATLAB软件对系统进行仿真，仿真结果表明，对于不同的绳长和臂架长度，误差渐进补偿控制具有良好的鲁棒性和控制精度，在起重机开始制动后，吊绳摆角在10s内减小到了0.003rad以下。

关键词: 起重机, 变幅运动, 吊重摆动, 误差渐进补偿控制器