摘要
塔式起重机搭载大尺寸负载时,因重心偏置,摆角控制难度增大,影响吊装定位精度。为此,提出装配式建筑施工用塔式起重机防摆控制方法。根据塔式起重机联动系统运动原理和过程,应用拉格朗日方程构建起重机联动系统动力学模型。利用挡位模型分析挡位和加速度的映射关系,结合单摆周期计算当前挡位下的预测摆动参数。采用模糊控制算法设计防摆控制器,根据预测摆幅与频率,生成控制指令,获得精准防摆控制量,实现起重机的主动消摆。实验结果表明,该方法控制的负载摆角稳定接近0.0°,定位精度显著提升。
Aiming at the problem that the offset of the center of gravity of tower cranes carrying large-sized loads in prefabricated construction will increase the difficulty of swing angle control and affect the positioning accuracy of lifting,an anti swing control method for tower cranes used in prefabricated construction is proposed.Based on the motion principle and process of the tower crane linkage system,the Lagrangian equation is applied to construct the dynamic model of the crane linkage system.The mapping relationship between gear position and acceleration is analyzed by using the gear position model,and the predicted swing parameters at the current gear position are calculated in combination with the pendulum period.The anti sway controller is designed by using the fuzzy control algorithm.Based on the predicted sway amplitude and frequency,control instructions are generated to obtain the precise anti sway control quantity and achieve the active anti sway of the crane.The experimental results show that the load swing angle controlled by this method is stable and close to 0.0°,significantly improving the positioning accuracy.
作者
周皓
ZHOU Hao(China Railway Shanghai Engineering Bureau Group First Engineering Co.,Ltd.,Wuhu 241000)
出处
《现代制造技术与装备》
2025年第12期186-188,共3页
Modern Manufacturing Technology and Equipment
关键词
装配式建筑
塔式起重机
防摆控制
负载摆角
prefabricated building
tower crane
anti sway control
load swing angle
