摘要
在月球等地外基地建设中,起重机是必需的工程装备。在施工过程中人员保障能力弱,吊装作业时的摆动应尽可能依靠装备自身的作动能力来进行抑制。利用对动力学系统做负功可损耗其机械能的基本力学原理,提出了一种根据吊挂力控制起重机吊点移动速度的主动减摆方法,从数学上证明了该闭环系统的稳定。据此,设计了由平面2自由度机械臂、通用多轴力传感器和实时仿真控制器组成的系统进行吊机减摆原理验证的实验方案。实测结果表明:在吊点的主动作动下,载荷摆动能快速制动,振动衰减时间缩减至自由振动时的1.53%。
In the construction of extraterrestrial bases such as the Moon,cranes areessential engineering equipment.Because of the weak personnel support ability,the swing during the lifting operation should be suppressed as much as possible by the actuating ability of the equipment itself.Based on the basic mechanical principle that the mechanical energy of a dynamic system can be dissipated by negative work,an active suppression method is proposed to control the movement of the lifting point of the crane according to the hanging force.The stability of the closed-loop system is proven mathematically.An experimental scheme is designed to verify the swing reduction principle of the crane with a system composed of a planar two-degrees-of-freedom manipulator,a multi-axial force sensor,and a real-time simulation controller.The results show that under the active action of the lifting point,the swing can be rapidly stopped,and the attenuation time is reduced to 1.53%of the free vibration.
作者
徐连凯
吴松
马越峰
唐国安
XU Liankai;WU Song;MA Yuefeng;TANG Guoan(College of Intelligent Robotics and Advanced Manufacturing,Fudan University,Shanghai 200433,China;Shanghai Aerospace Systems Engineering Institute,Shanghai 201109,China)
出处
《上海航天(中英文)》
2025年第3期72-79,87,共9页
Aerospace Shanghai(Chinese&English)
关键词
起重机
摆振
振动抑制
力反馈
动态响应
crane
swing
vibration suppression
force feedback
dynamic response
