桥式起重机精准定位在线轨迹规划方法设计及应用.pdfVIP

第33 卷第10 期 控制 理 论 与 应 用 Vol. 33 No. 10 2016 年10 月 Control Theory Applications Oct. 2016 DOI: 10.7641/CTA.2016.60312 桥桥桥式式式起起起重重重机机机精精精准准准定定定位位位在在在线线线轨轨轨迹迹迹规规规划划划方方方法法法设设设计计计及及及应应应用用用 何 博, 方勇纯 , 刘海亮, 孙 宁 (南开大学机器人与信息自动化研究所, 天津300350) 摘要: 针对工业桥式起重机的异步电机难以准确跟踪给定轨迹, 从而导致离线轨迹规划算法定位误差很大的问 题, 论文提出一种基于相平面分析的在线轨迹规划算法. 这种方法利用激光测距仪采集位置信息, 在起重机运行过 程中, 根据台车与目标位置的距离来优化轨迹不同阶段的运行时间, 并实时调整台车轨迹的有关参数, 以实现台车 精准定位的目标. 实验结果表明, 这种方法可以很好地兼顾负载快速消摆与台车准确定位两方面的要求, 有利于提 升桥式起重机的运送效率. 论文将这种在线轨迹规划方法成功应用于标准32 t工业桥式起重机, 并取得了良好的运 行效果. 关键词: 起重机; 在线轨迹规划; 精准定位 中图分类号: TP273 文献标识码: A Precise positioning online trajectory planner design and application for overhead cranes HE Bo, FANG Yong-chun , LIU Hai-liang, SUN Ning (Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300350, China) Abstract: For an industrial overhead crane, it is usually very difficult for its asynchronous motors to track the planned trajectories exactly, which results in large positioning errors when employing an off-line trajectory planner on the system. Motivated to solve this problem, this paper proposes an on-line trajectory-planning method based on phase plane analysis. To achieve the objective of precise positioning, the parameters of the constructed trajectory are updated based on the trolley’s position measured by laser rangefinders when the overhead crane is under operation, and the operating time for different stages of the trajectory are optimized according to the distance between the trolley and the