绳长时变情况下轮胎式集装箱起重机非线性防摆控制算法

曹海昕; 郝运嵩; 林静正; 卢彪; 方勇纯

doi:10.16383/j.aas.c200859

绳长时变情况下轮胎式集装箱起重机非线性防摆控制算法

doi: 10.16383/j.aas.c200859

1.
南开大学人工智能学院机器人与信息自动化研究所天津 300350

基金项目: 国家重点研发计划 (2018YFB1309000), 国家自然科学基金面上项目 (61873132), 广东省机器人与智能系统重点实验室开放基金资助

详细信息

作者简介:
曹海昕：南开大学人工智能学院机器人与信息自动化研究所硕士研究生. 主要研究方向为欠驱动系统控制. E-mail: c_haixin@mail.nankai.edu.cn

郝运嵩：南开大学人工智能学院机器人与信息自动化研究所硕士研究生. 主要研究方向为欠驱动系统的非线性控制. E-mail: haoysnk@hotmail.com

林静正：南开大学人工智能学院机器人与信息自动化研究所博士研究生. 主要研究方向为欠驱动系统控制. E-mail: ljz970129@ mail.nankai.edu.cn

卢彪：南开大学人工智能学院机器人与信息自动化研究所讲师. 主要研究方向为欠驱动系统非线性控制. E-mail: lubiao@mail.nankai.edu.cn

方勇纯：南开大学人工智能学院机器人与信息自动化研究所教授. 主要研究方向为非线性控制, 机器人视觉伺服控制, 欠驱动系统控制和基于原子力显微镜的纳米系统. 本文通信作者. E-mail: fangyc@nankai.edu.cn

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出版历程
- 收稿日期: 2020-10-14
- 录用日期: 2020-12-28
- 网络出版日期: 2021-02-01
- 刊出日期: 2021-08-20

Nonlinear Anti-swing Control for Rubber Tyre Container Gantry Crane With Rope Length Variation

1.
Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University, Tianjin 300350

Funds: Supported by National Key R&D Program of China (2018YFB1309000), National Nature Science Foundation of China (61873132), the Opening Project of Guangdong Provincial Key Lab of Robotics and Intelligent System

More Information

Author Bio:
CAO Hai-Xin　Master student at the Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University. His main research interest is control of underactuated systems

HAO Yun-Song　Master student at the Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University. His main research interest is nonlinear control of underactuated systems

LIN Jing-Zheng　Ph. D. candidate at the Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University. His main research interest is nonlinear control of underactuated systems

LU Biao　Lecturer at the Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University. His main research interest is nonlinear control of underactuated systems

FANG Yong-Chun　Professor at the Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University. His research interest covers nonlinear control, robot visual servoing control, control of underactuated systems and AFM-based nano-systems. Corresponding author of this paper

摘要

摘要:
四绳轮胎式集装箱起重机由于自身的动力学特性较为复杂, 目前仍缺乏稳定高效的控制手段. 为解决港口起重机作业过程中台车定位精准度低、负载易受干扰摆幅大的问题, 文章设计了一种面向工业场景的非线性反馈控制器. 首先在未进行近似处理的前提下对起重机吊具摆动情况进行了建模分析. 在此基础上, 通过在控制器中引入摆幅反馈信息, 实现了绳长时变情况下台车的精确定位与负载摆幅的有效抑制, 为集装箱的运送路径增加了更多选择. 随后基于Lyapunov方法对控制器进行了稳定性分析. 所设计的控制方案在港口实际设备上进行了验证, 在定位精度与消摆性能上相较于人工操作取得了很大提升.
- 欠驱动系统 /
- 集装箱门式起重机 /
- 摆动抑制 /
- 非线性控制
Abstract:
Due to the complex dynamic characteristics, the four-rope rubber tyre container gantry crane still lacks efficient control strategies. To deal with the problems of poor positioning accuracy and large swing amplitude during the operation, a nonlinear feedback controller for industrial scene is designed in this paper. Specifically, precise modeling of the spreader swing dynamic is first carried out, and then the swing amplitude information is taken into consideration of the controller construction. Based on that, precise positioning and effective swing suppression of the container are accomplished under the circumstances of rope length variation, which provides more selections for container transportation routes. The stability of the desired equilibria is proved with Lyapunov-based analysis, and extensive experiments are carried out on the practical container crane, which obtains much superior control performance than manual operation.
- Underactuated systems /
- container gantry crane /
- swing suppression /
- nonlinear control

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图 1 四绳起重机吊具摆动模型

Fig. 1 Swing model of four-rope crane spreader

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图 2 四绳轮胎式集装箱起重机

Fig. 2 Four-rope rubber-tyre container crane

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图 3 控制架构

Fig. 3 Control architecture

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图 4 长距离无箱运送实验结果

Fig. 4 Results of long-distance transportation without container

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图 5 长距离带箱运送实验结果

Fig. 5 Results of long-distance transportation with container

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图 6 短距离带箱运送实验结果

Fig. 6 Results of short-distance transportation with container

下载: 全尺寸图片幻灯片

表 1 不同作业模式下数据对比

Table 1 Data comparison of different operation modes

作业模式		台车位置误差 (cm)	起升高度误差 (cm)	最大摆角 (°)	作业用时 (s)
长距离无箱运送	人工控制	24	23	2.6	31.8
长距离无箱运送	算法控制	4	1	1.1	23.9
长距离带箱运送	人工控制	43	73	3.1	32.7
长距离带箱运送	算法控制	4	0	1.4	24.6
短距离带箱运送	人工控制	15	67	2.5	23.8
短距离带箱运送	算法控制	2	2	1.2	17.3

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