Time-optimal bridge crane track planning method based on differential flatness and B-spline

An overhead crane, time-optimized technology, applied in the directions of load hanging components, transportation and packaging, can solve problems such as limiting the transportation efficiency of overhead crane systems and not considering the optimal time problem.

Inactive Publication Date: 2014-12-10
NANKAI UNIV
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Problems solved by technology

But at the same time, the above-mentioned trajectory planning methods do not consider th...

Method used

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  • Time-optimal bridge crane track planning method based on differential flatness and B-spline
  • Time-optimal bridge crane track planning method based on differential flatness and B-spline
  • Time-optimal bridge crane track planning method based on differential flatness and B-spline

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Experimental program
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Embodiment 1

[0144] 1. Construct the flat output of the bridge crane system and determine the trajectory constraints

[0145] According to the kinematic equation of the bridge system, the analysis shows that the flat output of the system is the load horizontal position ; The differentially flat system has the following properties, that is, all state variables and outputs in the system can be expressed by the system flat output and its finite order derivatives;

[0146] According to the above properties, the trajectory constraints of the trolley can be transformed into flat output Constraints, get the specific optimization problem:

[0147] (16)

[0148] Here, the selected system parameters are as follows:

[0149]

[0150] 2. Load trajectory parameterization

[0151] Select B-spline curve representation , the specific form is:

[0152] (18)

[0153] The specific form of the node sequence corresponding to the B-spline curve...

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Abstract

The invention relates to a time-optimal bridge crane track planning method based on differential flatness and a B-spline, and aims at solving the automatic control problem of a nonlinear bridge crane. The method is good in performance of locating a trolley and eliminating the swinging of a load. The method comprises the following steps of proposing system flatness output which is used for processing a coupling relation between the motion of the trolley and the swinging of the load; converting track parameters to a B-spline curve form with to-be-optimized parameters by utilizing the continuity and smoothness of the B-spline curve; obtaining a time-optimal track by utilizing a polygonal optimization algorithm by considering constraints such as the swinging angle of the load and the acceleration of the trolley. The track planning is carried out by utilizing the differential flatness characteristics of a bridge crane system, so that the analysis on the complicated coupling characteristics of the system can be avoided; moreover, the selected track form has an analytic expression; meanwhile, the time-optimal track is obtained by utilizing the optimization algorithm. The simulation and experimental result shows that the control effect is good, and the real application value is good.

Description

technical field [0001] The invention belongs to the technical field of automatic control of nonlinear underactuated electromechanical systems, and in particular relates to a time-optimal overhead crane trajectory planning method based on differential flatness and B-splines. Background technique [0002] The bridge crane system is widely used in industrial production process, it has nonlinear and under-actuated characteristics. The so-called underactuated system means that the number of control inputs of the system is less than the number of degrees of freedom of the system. Compared with the full-drive system, the under-actuated system has the advantages of simple structure and low energy consumption; but at the same time, the control difficulty of the system is also higher than that of the full-drive system. As far as the bridge crane is concerned, the movement of the load is driven by the suspension rope fixed on the trolley, which cannot be directly controlled, which als...

Claims

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Application Information

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IPC IPC(8): B66C13/18
Inventor 方勇纯陈鹤孙宁
Owner NANKAI UNIV
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