肘节起重机的减振
Oscillation Reduction for Knuckle Cranes
摘要：
悬臂起重机是最常见的物料搬运系统之一，因为它们的设计简单。一些悬臂起重机还具有通过柔性接头连接到悬臂的辅助悬臂，以增强可操作性并增加起重机的工作空间。这样的悬臂起重机通常被称为关节悬臂起重机。由于其欠驱动特性，控制关节臂起重机相当具有挑战性。据我们所知，只有少数技术是目前在文献中使用近似模型的起重机来控制这种类型的起重机。在本文中，我们首次提出了一个完整的数学模型，这种起重机，它可以控制起重机的三个旋转（称为俯仰，回转和臂架运动），和电缆长度。控制该系统的主要挑战之一是如何以有效的方式减少振荡。在本文中，我们提出了一种非线性控制的基础上，能源的考虑，能够引导起重机所需的设定点，同时有效地减少负载振荡。相应的稳定性和收敛性分析证明使用LaSalle的不变性原理。仿真结果验证了该方法的有效性和可行性。
英文摘要：
Boom cranes are among the most common material handling systems due to their simple design. Some boom cranes also have an auxiliary jib connected to the boom with a flexible joint to enhance the maneuverability and increase the workspace of the crane. Such boom cranes are commonly called knuckle boom cranes. Due to their underactuated properties, it is fairly challenging to control knuckle boom cranes. To the best of our knowledge, only a few techniques are present in the literature to control this type of cranes using approximate models of the crane. In this paper we present for the first time a complete mathematical model for this crane where it is possible to control the three rotations of the crane (known as luff, slew, and jib movement), and the cable length. One of the main challenges to control this system is how to reduce the oscillations in an effective way. In this paper we propose a nonlinear control based on energy considerations capable of guiding the crane to desired sets points while effectively reducing load oscillations. The corresponding stability and convergence analysis is proved using the LaSalle's invariance principle. Simulation results are provided to demonstrate the effectiveness and feasibility of the proposed method.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
