摘要
为解决水电站生态调度操作门机作业效率低和分层取水响应不及时等问题,提出操作门机智能控制方法。以某水电站额定起升量为50 t的操作门机为研究对象,根据哈密顿原理,建立操作门机在风载干扰下的数学模型,基于李亚普洛夫稳定性设计出能量法控制器,进行轨迹跟踪与消摆控制策略研究。设计三段式S型曲线,为小车给定运动轨迹。设计全状态观测器估计非线性摩擦及风载。采用Simulink仿真分析,确定控制系统参数。根据操作门机几何参数,在Recurdyn建立系统虚拟样机模型,进行操作门机的动力学与控制器联合仿真研究。结果表明:能量法控制满足位置控制精度,有效抑制吊重摆动,为水电站生态调度操作门机智能化技术升级提供一定的理论参考。
In order to solve the problems of low operating efficiency and untimely response of stratified water intake,an intelligent control method for operating portal crane is proposed.Taking a 50 t rated lifting capacity gantry crane of a hydropower station as the research object,a mathematical model of the gantry crane under wind load interference was established based on the Hamilton’s principle data,based on Lyapunov stability,an energy method controller is designed for trajectory tracking and anti-swing control.Design three-segment S-type curve,for the car given trajectory.Design full State observer to estimate nonlinear friction and wind loads.Simulink simulation analysis is used to determine the control system parameters.According to the geometric parameters of the portal crane,the virtual prototype model of the system is established in Recurdyn,and the dynamics and controller simulation of the Portal Crane are studied.The results show that the energy method can satisfy the precision of position control and restrain the swing of lifting weight effectively.
作者
周益
方子帆
侯春尧
周宇
刘文忠
张兆礼
ZHOU Yi;FANG Zifan;HOU Chunyao;ZHOU Yu;LIU Wenzhong;ZHANG Zhaoli(Xiluodu Hydropower Plant,China Yangtze Power Co.,Ltd.,Zhaotong 657300,Yunnan,China;College of Mechanical and Power Engineering,China Three Gorges University,Yichang 443002,Hubei,China;Hubei Key Laboratory of Hydroelectric Machinery Design&Maintenance,China Three Gorges University,Yichang 443002,Hubei,China)
出处
《中国工程机械学报》
北大核心
2025年第5期856-861,共6页
Chinese Journal of Construction Machinery
基金
中国长江三峡集团有限公司科研资助项目(Z412202021)
湖北省重点实验室开放基金资助项目(2021KJX01)。
