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科威特大学M Alfares副教授，等：不同输入整形和命令整形控制器在斜支轨桥式起重机吊重残余振动最小化中的性能比较

已有 182 次阅读 2024-7-18 20:30 |个人分类:IJMSD|系统分类:论文交流

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图1 Graphical abstract

欠驱动机械（如重型起重机的吊具系统等）的动力学特性及其残余振动/摆动控制是当前控制领域的研究热点之一。桥式起重机是使用范围最广、数量最多的一种起重机械。当高效运输货物时，桥式起重机的小车（或副臂）沿轨道快速移动，从而引起吊重的振动/摆动。控制桥式起重机吊重振动/摆动的常用方法有反馈（闭环）控制和前馈（开环）控制。反馈控制的应用面临诸多挑战，如难以准确感知吊载位置、系统参数变化以及难与人工操作兼容等；而输入整形、命令整形等前馈控制方法则无需感知吊重振动/摆动，对不同的系统参数不敏感，且输入整形控制易与人工操作集成，已被广泛用于抑制由点对点运动引起的吊重残余振动/摆动。在实际应用中，桥式起重机小车的支撑轨道倾斜或错位是其结构不稳定的一种常见形式，会导致起重机系统动力学模型的改变，甚至引起吊重过度振动/摆动，从而损坏桥式起重机控制系统，造成安全事故。因此，考虑支撑轨道倾斜问题对桥式起重机系统吊重振动/摆动控制的影响至关重要。

鉴此，科威特大学Mohammed Alfares副教授，等在《国际机械系统动力学学报（英文）》（International Journal of Mechanical System Dynamics, IJMSD）发表题为“Comparative analysis on the performance of different types of input- and command-shaping controllers in minimizing payload residual vibration of an overhead crane with an inclined supporting track”的研究论文。该文比较分析了双步（Double-step）、零振动（Zero vibration, ZV）两种输入整形，和波形（waveform, WF）命令整形三种控制方案对具有倾斜轨道的桥式起重机吊重残余振动的抑制能力，并提出了一种新的WF命令整形器。该文首先建立了具有倾斜轨道的桥式起重机系统动力学模型，研究了沿倾斜轨道运动的桥式起重机吊具系统残余振动/摆动特性。其次，搭建实验装置测试了0°、4°、8°和12°四种倾角下，小车沿斜轨上、下运动时，三种整形器的控制性能，并将其与仿真结果比较；数值仿真和实验结果验证了不同类型整形器均能有效抑制吊重残余振动，但在克服轨道大倾角的影响方面仍存在局限性。为此，该文提出并设计了一种新的WF命令整形器；数值和实验结果对比表明：新整形器可有效抑制沿斜轨运动的吊重的残余振动，其性能优于其他三种整形器，且适用的倾角范围更广。该研究成果为抑制支撑轨道大倾角工况下桥式起重机吊重的残余振动提供了新方法，为进一步提高桥式起重机系统的安全性和效率提供了实验和理论基础，对桥式起重机控制系统的设计具有重要指导意义。

Abstract: Reducing the effects of external disturbance on overhead crane systems is crucial, as they can impair the controller performance and cause excessive vibrations or oscillations of the payloads. One such external disturbance is the inclination of the supporting track of the crane trolley, which causes the system dynamics model to change. An open-loop control strategy is widely utilized to control the payload sway motion and generally does not require any alterations in the physical structure of a system or the installation of sensors and/or actuators. Input and command shaping are two common open-loop control techniques applied to control overhead cranes. In this paper, the effect of moving an overhead crane system along an inclined supporting track is investigated. In addition, the ability of different types of input- and command-shaping control schemes to suppress the residual vibrations due to trolley track inclination is demonstrated. Two types of input-shaping controllers, which are double-step, zero vibration, and one command waveform (WF) shaper based on a trigonometric function, are used and tested. A linear equation of motion of the overhead crane resting on an inclined surface is developed to simulate the overhead crane and payload motion. The effectiveness of the different types of open-loop controllers to suppress residual vibrations is verified by both simulation and experimental results. In addition, a new WF command shaper is proposed and designed to overcome track inclination while eliminating payload residual vibration. A comprehensive comparative analysis, both numerically and experimentally, is performed on the new proposed shaper to measure its effectiveness in handling inclination when compared to other types of open-loop controllers. The new shaper outperforms other controllers in eliminating payload residual vibration for a wider range of inclination angles.

该文亮点：

建立了具有倾斜轨道的桥式起重机系统动力学模型，研究了沿倾斜轨道运动的桥式起重机吊具系统残余振动/摆动特性；
通过数值仿真和模型实验，比较了不同类型整形器在桥式起重机轨道的不同倾角下抑制吊重残余振动的性能；
提出并设计了一种新的WF命令整形器，能有效抑制沿倾斜轨道运动的吊重残余振动，性能优于其他整形器，适用于广泛的倾斜角范围。

Highlights:

A dynamics model of overhead crane with an inclined supporting track was established to investigate the payload residual vibration/swing characteristics.
The performance of different types of shapers in minimizing payload residual vibration at different inclination angles was compared via numerical simulation and model tests.
A new waveform command shaper was proposed and designed, effectively suppressing payload residual vibration of overhead crane with inclined supporting track. It outperforms other shapers and eliminates residual vibration at all values of inclination angle.

Keywords: overhead cranes;open-loop control;input and command shaping;payload residual vibrations

DOI: 10.1002/msd2.12095

Share this article: https://onlinelibrary.wiley.com/doi/10.1002/msd2.12095（点击链接直达原文）

Cite this article: Alfares M, Alhazza K. Comparative analysis on the performance of different types of input- and command-shaping controllers in minimizing payload residual vibration of an overhead crane with an inclined supporting track. Int J Mech Syst Dyn. 2024; 4: 22-33. doi:10.1002/msd2.12095

作者简介

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Mohammed Alfares is an associate professor in mechanical engineering at Kuwait University. He holds an M.Sc. and a Ph.D. in Mechanical Engineering from University of Wisconsin-Madison, USA. His main research interests are kinematics of robot manipulators, robotics application in construction industry, mechanical vibration, condition-based monitoring and maintenance, manufacturing processes, and mechanical testing and failure analysis.

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Khaled Alhazza is a professor in Mechanical Engineering Department at Kuwait University. Prior to joining Kuwait University, Prof. Alhazza was a researcher at Kuwait Institute of Scientific Research (KISR). He holds a Ph.D. in mechanical engineering from Virginia Tech, Blacksburg, Virginia, USA, and an M.Sc. in mechanical engineering from Rensselaer Polytechnic Institute (RPI), Troy, New York, USA. Between the years 2006 and 2007, he continued his research on delayed feedback control at the Center for Intelligent Material Systems and Structures (CIMSS) at Virginia Tech. His main research interests are dynamics, structural dynamics, linear and nonlinear control, and nonlinear oscillations.

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