摘要
针对门座式液压起重机多自由度协同精度低与抗扰性差的问题,提出了一种基于机械-液压耦合动力学模型的自适应模糊协同控制方法。研究了拉格朗日方程与液压系统状态空间模型的融合机制,构建了多自由度机构的动力学模型,并通过非线性干扰观测器(NDOB)实现扰动动态补偿。介绍了自适应模糊逻辑优化(AFLO)策略,用于在线调整控制参数,提升系统鲁棒性,为港口装卸等场景的智能化协同作业提供了高效解决方案。
Aiming at the problems of low multi-degree-of-freedom synergy accuracy and poor anti-disturbance of gantry hydraulic cranes,the study constructs a mechanical-hydraulic coupling dynamics model and designs a synergistic control strategy based on dynamic parameter compensation.It improves the multi-agency trajectory synchronization and system stability through perturbation observation and fuzzy optimization.Experiments show that the model achieves maximum performance improvements of 64.8%,64.2%and 76.0%in multi-agency trajectory tracking error,hydraulic pressure fluctuation amplitude and perturbation recovery rate,respectively,compared with the existing methods,while the computational resource consumption is reduced by 36.7%~48.0%.Moreover,the model's hydraulic parameter identification error is controlled within 5.0%,the maximum tracking error fluctuation range of multi-degree-of-freedom co-motion is reduced to±2.1%,and the computation time of a single control cycle is stabilized within 1.5 mm.In addition,the steady-state error convergence time of the system under model control is reduced to 0.8 s.The research model can improve the cooperative position control efficiency of gantry hydraulic cranes,and provide an efficient solution for the intelligent cooperative operation in port loading and unloading scenarios.
作者
丁照龙
DING Zhaolong(China Power Construction Group Nuclear Power Engineering Co.,Ltd.,Jinan Shandong 250102)
出处
《建筑机械化》
2025年第8期7-11,共5页
Construction Mechanization
