起重机中英文对照外文翻译文献.docx
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起重机中英文对照外文翻译文献.docx
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起重机中英文对照外文翻译文献
中英文对照外文翻译
(文档含英文原文和中文翻译)
ControlofTowerCranesWith
Double-PendulumPayloadDynamics
Abstract:
Theusefulnessofcranesislimitedbecausethepayloadissupportedbyanoverheadsuspensioncablethatallowsoscilationtooccurduringcranemotion.Undercertainconditions,thepayloaddynamicsmayintroduceanadditionaloscillatorymodethatcreatesadoublependulum.Thispaperpresentsananalysisofthiseffectontowercranes.Thispaperalsoreviewsacommandgenerationtechniquetosuppresstheoscillatorydynamicswithrobustnesstofrequencychanges.Experimentalresultsarepresentedtoverifythattheproposedmethodcanimprovetheabilityofcraneoperatorstodriveadouble-pendulumtowercrane.Theperformanceimprovementsoccurredduringbothlocalandteleoperatedcontrol.
Keywords:
Crane,inputshaping,towercraneoscillation,vibration
I.INTRODUCTION
Thestudyofcranedynamicsandadvancedcontrolmethodshasreceivedsignificantattention.Cranescanroughlybedividedintothreecategoriesbasedupontheirprimarydynamicpropertiesandthecoordinatesystemthatmostnaturallydescribesthelocationofthesuspensioncableconnectionpoint.Thefirstcategory,bridgecranes,operateinCartesianspace,asshowninFig.1(a).Thetrolleymovesalongabridge,whosemotionisperpendiculartothatofthetrolley.Bridgecranesthatcantravelonamobilebaseareoftencalledgantrycranes.Bridgecranesarecommoninfactories,warehouses,andshipyards.
Thesecondmajorcategoryofcranesisboomcranes,suchastheonesketchedinFig.1(b).Boomcranesarebestdescribedinsphericalcoordinates,whereaboomrotatesaboutaxesbothperpendicularandparalleltotheground.InFig.1(b),
istherotationaboutthevertical,Z-axis,and
istherotationaboutthehorizontal,Y-axis.Thepayloadissupportedfromasuspensioncableattheendoftheboom.Boomcranesareoftenplacedonamobilebasethatallowsthemtochangetheirworkspace.
Thethirdmajorcategoryofcranesistowercranes,liketheonesketchedinFig.1(c).Thesearemostnaturallydescribedbycylindricalcoordinates.Ahorizontaljibarmrotatesaroundaverticaltower.Thepayloadissupportedbyacablefromthetrolley,whichmovesradiallyalongthejibarm.Towercranesarecommonlyusedintheconstructionofmultistorybuildingsandhavetheadvantageofhavingasmallfootprint-to-workspaceratio.Primarydisadvantagesoftowerandboomcranes,fromacontroldesignviewpoint,arethenonlineardynamicsduetotherotationalnatureofthecranes,inadditiontothelessintuitivenaturalcoordinatesystems.
Acommoncharacteristicamongallcranesisthatthepay-loadissupportedviaanoverheadsuspensioncable.Whilethisprovidesthehoistingfunctionalityofthecrane,italsopresentsseveralchallenges,theprimaryofwhichispayloadoscillation.Motionofthecranewilloftenleadtolargepayloadoscillations.Thesepayloadoscillationshavemanydetrimentaleffectsincludingdegradingpayloadpositioningaccuracy,increasingtaskcompletiontime,anddecreasingsafety.Alargeresearchefforthasbeendirectedatreducingoscillations.Anoverviewoftheseeffortsincranecontrol,concentratingmainlyonfeedbackmethods,isprovidedin[1].Someresearchershaveproposedsmoothcommandstoreduceexcitationofsystemflexiblemodes[2]–[5].Cranecontrolmethodsbasedoncommandshapingarereviewedin[6].
Manyresearchershavefocusedonfeedbackmethods,whichnecessitatetheadditionnecessitatetheadditionofsensorstothecraneandcanprovedifficulttouseinconjunctionwithhumanoperators.Forexample,somequaysidecraneshavebeenequippedwithsophisticatedfeedbackcontrolsystemstodampenpayloadsway.However,themotionsinducedbythecomputercontrolannoyedsomeofthehumanoperators.Asaresult,thehumanoperatorsdisabledthefeedbackcontrollers.Giventhatthevastmajorityofcranesaredrivenbyhumanoperatorsandwillneverbeequippedwithcomputer-basedfeedback,feedbackmethodsarenotconsideredinthispaper.
Inputshaping[7],[8]isonecontrolmethodthatdramaticallyreducespayloadoscillationbyintelligentlyshapingthecommandsgeneratedbyhumanoperators[9],[10].Usingroughestimatesofsystemnaturalfrequenciesanddampingratios,aseriesofimpulses,calledtheinputshaper,isdesigned.Theconvolutionoftheinputshaperandtheoriginalcommandisthenusedtodrivethesystem.Thisprocessisdemonstratedwithatwo-impulseinputshaperandastepcommandinFig.2.Notethattherisetimeofthecommandisincreasedbythedurationoftheinputshaper.Thissmallincreaseintherisetimeisnormallyontheorderof0.5–1periodsofthedominantvibrationmode.
Fig.1.Sketchesof(a)bridgecrane,(b)boomcrane,(c)andtowercrane.
Fig.2.Input-shapingprocess.
Inputshapinghasbeensuccessfullyimplementedonmanyvibratorysystemsincludingbridge[11]–[13],tower[14]–[16],andboom[17],[18]cranes,coordinatemeasurementmachines[19]–[21],roboticarms[8],[22],[23],deminingrobots[24],andmicro-millingmachines[25].
Mostinput-shapingtechniquesarebaseduponlinearsystemtheory.However,someresearcheffortshaveexaminedtheextensionofinputshapingtononlinearsystems[26],[14].Inputshapersthatareeffectivedespitesystemnonlinearitieshavebeendeveloped.Theseincludeinputshapersfornonlinearactuatordynamics,friction,anddynamicnonlinearities[14],[27]–[31].Onemethodofdealingwithnonlinearitiesistheuseofadaptiveorlearninginputshapers[32]–[34].Despitetheseefforts,thesimplestandmostcommonwaytoaddresssystemnonlinearitiesistoutilizearobustinputshaper[35].Aninputshaperthatismorerobusttochangesinsystemparameterswillgenerallybemorerobusttosystemnonlinearitiesthatmanifestthemselvesaschangesinthelinearizedfrequencies.Inadditiontodesigningrobustshapers,inputshaperscanalsobedesignedtosuppressmultiplemodesofvibration[36]–[38].
InSectionII,themobiletowercraneusedduringexperimentaltestsforthispaperispresented.InSectionIII,planarand3-Dmodelsofatowercraneareexaminedtohighlightimportantdynamiceffects.SectionIVpresentsamethodtodesignmultimodeinputshaperswithspecifiedlevelsofrobustness.InSectionV,thesemethodsareimplementedonatowercranewithdouble-pendulumpayloaddynamics.Finally,inSectionVI,theeffectoftherobustshapersonhumanoperatorperformanceispresentedforbothlocalandteleoperatedcontrol.
II.MOBILETOWERCRANE
Themobiletowercrane,showninFig.3,hasteleoperationcapabilitiesthatallowittobeoperatedinreal-timefromanywhereintheworldviatheInternet[15].Thetowerportionofthecrane,showninFig.3(a),isapproximately2mtallwitha1mjibarm.ItisactuatedbySiemenssynchronous,ACservomotors.Thejibiscapableof340°rotationaboutthetower.Thetrolleymovesradiallyalongthejibviaaleadscrew,andahoistingmotorcontrolsthesuspensioncablelength.MotorencodersareusedforPDfeedbackcontroloftrolleymotionintheslewingandradialdirections.ASiemensdigitalcameraismountedtothetrolleyandrecordstheswingdeflectionofthehookatasamplingrateof50Hz[15].
Themeasurementresolutionofthecameradependsonthesuspensioncablelength.Forthecablelengthsusedinthisresearch,theresolutionisapproximately0.08°.Thisisequivalenttoa1.4mmhookdisplacementatacablelengthof1m.Inthiswork,thecameraisnotusedforfeedbackcontrolofthepayloadoscillation.Theexperimentalresultspresentedinthispaperutilizeencoderdatatodescribejibandtrolleypositionandcameradatatomeasurethedeflectionanglesofthehook.
BasemobilityisprovidedbyDCmotorswithomnidirectionalwheelsattachedtoeachsupportleg,asshowninFig.3(b).ThebaseisunderPDcontrolusingtwoHiBotSH2-basedmicrocontrollers,withfeedbackfrommotor-shaft-mountedencoders.Themobilebasewaskeptstationaryduringallexperimentspresentedinthispaper.Therefore,themobiletowercraneoperatedasastandardtowercrane.
TableIsummarizestheperformancecharacteristicsofthetowercrane.Itshouldbenotedthatmostoftheselimitsareenforcedviasoftwareandarenotthephysicallimitationsofthesystem.Theselimitationsareenforcedtomorecloselymatchtheoperationalparametersoffull-sizedtowercranes.
Fig.3.Mobile,portabletowercrane,(a)mobiletowercrane,(b)mobilecranebase.
TABLEIMOBILETOWERCRANEPERFORMANCELIMITS
Fig.4Sketchoftowercranewithadouble-pendulumdynamics.
III.TOWERCRANEMODEL
Fig.4showsasketchofatowercranewithadouble-pendulumpayloadconfiguration.Thejibrotatesbyanangle
aroundtheverticalaxisZparalleltothetowercolumn.Thetrolleymovesradiallyalongthejib;itspositionalongthejibisdescribedby
.Thesuspensioncablelengthfromthetrolleytothehookisrepresentedbyaninflexible,masslesscableofvariablelength
.Thepayloadisconnectedtothehookviaaninflexible,masslesscableoflength
.Boththehookandthepayloadarerepresentedaspointmasseshavingmasses
and
respectively.
TheanglesdescribingthepositionofthehookareshowninFig.5(a).Theangle
representsadeflectionintheradialdirection,alongthejib.Theangle
representsatangentialdeflection,perpendiculartothejib.InFig.5(a),
isintheplaneofthepage,and
liesinaplaneoutofthepage.TheanglesdescribingthepayloadpositionareshowninFig.5(b).Noticethattheseanglesaredefinedrelativetoalinefromthetrolleytothehook.Ifthereisnodeflectionofthehook,thent
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