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中文摘要：
从货柜船上快速装载或卸载集装箱时,由于存在未建模动态和风扰,实际对象总存在一定的残余摆动。为了提高小车迅速消除集装箱摆动的能力,提出一种以事件驱动为切换规则的多模型参考切换双闭环防摇控制算法。通过分析吊具摆角与小车运行加减速之间的关系,运用拉格朗日方程建立桥吊防摇系统的数学模型。由摄像头和反光板组成的机器视觉系统将检测到的图像,经处理后得到吊具的角度。再将吊具的摆角信号引入到防摇控制中,构成闭环控制系统。计算机仿真和试验结果表明,采用所设计的防摇控制算法,可使小车全运行过程中,吊具摆角波动范围控制在±0.05 rad内,并且当小车在目标位置停止运动时,吊具摆角波动范围可控制在±0.01 rad内,满足桥吊实际使用要求。
英文摘要：
Due to the unmodeled dynamics of the plant and to disturbances like wind,the residual swing always exists during fast loading / unloading of the containers from the container ship.In order to enhance the trolley＇s capability of eliminating the swing of containers,the algorithm of multiple models reference switching double closed-loop anti-swing control is presented,which regards event-driven as the switching rule.By means of Lagrange dynamic equation,the mathematic model is established for anti-swing systems of overhead containers according to the mutual relationship between the swing angle of the load and the acceleration of the trolley.The image to get the swing angle signal is detected by the machine vision sensor composed of the camera and reflectors,which is introduced to compose double closed-loop control system.The computer simulations and experiments with the laboratory-size model of the overhead container system are carried out simultaneously.The results show that adopting the proposed method,the range of the load swing angle is ±0.05 radian during the whole working process of the trolley,at the same time,the range of the load swing angle is ±0.01 radian when the trolley stops at the target position.The practical use requirement is satisfied.
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