模拟和反倾斜控制方法用于垂直升降过程的细光束有效载荷
Minghui Xia1, Xiaokai Wang1, Qingxiang Wu2
1Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China; Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan 430070, China; School of Automotive Engineering, Wuhan University of Technology, Wuhan 430070, China.
ISA transactions
|April 18, 2024
概括
这项研究引入了一种新的控制方法,以减少风力轮机塔等纤细结构的垂直升降时的摇摆. 非单元终端滑动模式控制 (NTSMC) 有效地抑制了有效载荷的振荡.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 机械工程 机械工程
- 结构动力学 结构动力学
背景情况:
- 传统的起重机控制侧重于有效载荷在水平运输期间的摇摆.
- 细梁有效载荷 (SBPs) 的垂直升降带来了独特的挑战,其中一端接地,使它们容易受到外部干扰的影响.
- 应用包括风力轮塔安装,火箭组装和管道铺设.
研究的目的:
- 开发一种新的控制策略,以减轻SBP垂直升降过程中的振荡.
- 为了应对在提升操作期间与地面接触所带来的特定动态挑战.
- 为了提高重型,细型有效载荷操纵的稳定性和精度.
主要方法:
- 在垂直升降过程中为SBP建立非线性三维动态模型.
- 实施非单元终端滑动模式控制 (NTSMC) 战略.
- 使用Lyapunov方法对NTSMC的稳定性分析.
主要成果:
- 拟议的NTSMC有效地抑制了SBP在垂直升降过程中的振荡.
- 模拟演示了控制方法管理摇摆的能力.
- 实验验证证了NTSMC方法的实际有效性.
结论:
- 开发的NTSMC提供了一个强大的解决方案,用于控制垂直提升操作期间的细梁有效载荷.
- 这种方法在涉及大型结构的关键工业应用中提高了安全性和精度.
- 该研究通过模拟和现实世界的实验验证实了NTSMC的有效性.
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