面向安全的双摆效应吊车系统控制研究

Crane systems are commonly used industrial transportation tools, and control researches for these systems are of great importance. Now on, most existing crane control-related researches focus on the accurate payload transportation while the safety requirement during the crane working process is usually ignored. Additionally, for most existing methods, the crane system is treated as a single pendulum system. However, when the payload is too large to be seen as a mass point or the hook mass cannot be ignored, the payload may swing around the hook and the crane system may behave more like a double pendulum system. Compared with the commonly used single pendulum crane system, the double pendulum crane system is more complex. In addition, since the transported payload is large and heavy, the happening of safety accidents may cause heavier loss. Focusing on the security-oriented control for double pendulum crane systems and by considering control problem with strict swing angle constraints, static obstacle avoidance, and system emergency braking when emergency situations happen, this project will propose effective control methods to improve the safety during the working process. Specifically, the following points will be studied in this project: strict swing angle constraint guaranteed control method design, obstacle avoidance method design by payload hoisting, and double pendulum swing suppression considered emergency braking method design; after theoretical analysis, the proposed methods will be tested by using a self-built double pendulum crane testbed to verify their performance. The research of this project is conducive to improve the safety of industrial crane systems and expected to solve security-oriented control problems of similar systems, which is both theoretically and practically significant.

吊车是常用的运输工具，对其的控制研究具有重要的意义。目前，绝大多数研究均面向负载精确运送，忽略了工作过程中的安全要求。此外，大部分研究方法均将吊车视为单摆系统。当负载尺寸较大无法视为质点，或是吊钩质量无法忽略时，易出现负载绕吊钩的摆动，此时的吊车系统将呈现出双摆特性。相比于单摆吊车系统，双摆吊车系统更为复杂。同时，由于负载尺寸、质量往往较大，若发生安全事故，易造成更为严重的损失。针对双摆吊车系统的安全控制，本项目将考虑严格负载摆角约束、静态障碍物避障与突发情况时紧急制动等难题，提出行之有效的自动控制策略，提高系统工作过程中的安全性。本项目主要研究内容包括：考虑严格摆角约束的控制方法、利用负载提升的避障策略、考虑两级摆动抑制的紧急制动策略；在理论分析完成后，将在双摆吊车实验平台上进行实验测试。本项目研究将有助于提高工业吊车安全性，同时有望解决类似系统的安全控制问题，具有理论与实际的双重意义。

随着经济发展，工业吊车系统作为最常见的运输工具，应用范围越来越广泛。同时，吊车系统的工作环境复杂，易出现各类突发情况。因此，为其设计有效的安全控制方法，改善其工作过程中的安全性，对于经济的稳定发展，具有重要的意义。吊车系统作为典型的欠驱动系统，状态量之间存在复杂耦合关系，同时需要利用较少的控制量实现对较多待控自由度的控制，导致其控制方法的设计难度极大。基于此，本项目展开了如下研究：1.考虑状态约束与紧急制动的调节控制方法研究；2.考虑负载避障的轨迹规划方法研究；3.考虑干扰与不确定性的滑模控制方法研究。. 本项目取得了如下的研究成果：1.深入分析吊车系统的动力学特性，考虑状态约束、紧急制动、输出反馈的要求，设计了三种调节控制方法；2.分析吊车系统运动学模型，设计了基于微分平坦的时间最优避障轨迹规划方法，并设计了有效的自适应跟踪策略，可对重力参数进行精确估计，改善轨迹跟踪效果；3.为处理吊车系统易受到的干扰与不确定性影响，利用滑模控制技术，分别设计了滑模跟踪控制策略与基于自适应模糊估计器的滑模控制策略，可有效提高吊车系统闭环鲁棒性，改善其应对外界干扰与驱动器死区等问题的能力。对于所得研究成果，进行了大量的数值仿真与原理样机实验测试，充分验证了所提方法的有效性，测试了方法的良好性能，并有望后续进行工业应用。