[1]陈鹤,吴庆祥,孙宁,等.面向大尺寸货物运送的吊车控制方法综述[J].智能系统学报,2022,17(4):824-838.[doi:10.11992/tis.202201055]
CHEN He,WU Qingxiang,SUN Ning,et al.Overview of crane control methods for large-size cargo transportation[J].CAAI Transactions on Intelligent Systems,2022,17(4):824-838.[doi:10.11992/tis.202201055]
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CHEN He,WU Qingxiang,SUN Ning,et al.Overview of crane control methods for large-size cargo transportation[J].CAAI Transactions on Intelligent Systems,2022,17(4):824-838.[doi:10.11992/tis.202201055]
面向大尺寸货物运送的吊车控制方法综述
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
17
期数:
2022年第4期
页码:
824-838
栏目:
吴文俊人工智能科学技术奖论坛
出版日期:
2022-07-05
- Title:
- Overview of crane control methods for large-size cargo transportation
- Keywords:
- crane; large-size cargo; double pendulum; multi-crane collaboration; underactuated system; swing suppression; dynamics modeling; motion control
- 分类号:
- TP273
- 摘要:
- 随着现代化工业和基础设施建设的飞速发展，面向大尺寸货物运送的吊车系统以其高负载能力、低成本的显著优势广泛应用于集装箱搬运、风机安装、飞机机翼机身移动、水轮发电机转子安装、海上钻井平台搭建等诸多重要领域。然而，相对于传统的点质量单摆吊车系统，面向大尺寸货物运送的吊车系统具有更高的欠驱动程度、更强的状态耦合性和更加复杂的非线性，给大尺寸货物高效、安全的运送控制带来严峻挑战。本文首先简单阐述了面向大尺寸货物运送吊车系统不同吊装形式的建模、优势和缺点；然后，详细介绍了点质量双摆吊车系统、分布式质量双摆吊车系统和多吊车协同运送系统控制的研究现状；最后，对面向大尺寸货物运送吊车系统控制的研究现状进行概括，并对可能存在的关键问题和未来的研究方向进行了讨论和展望。
- Abstract:
- With the rapid development of modern industry and infrastructure construction, crane systems for large-size cargo transportation are widely used in container handling, wind turbine installation, aircraft wing and fuselage movement, rotor installation of water turbogenerator, offshore drilling platform construction, and many other important fields due to their high carrying capacity and low costs. However, compared with the traditional point mass single pendulum crane system, the crane systems for large-size cargo transportation have a higher degree of underactuation, stronger state couplings, and more complex nonlinearity, which bring severe challenges to the high-efficiency and safe transportation control of large-size cargos. In this paper, the modeling, advantages and disadvantages of different hoisting forms of crane systems for large-size cargo transportation are briefly described. Then, the research status of point mass double pendulum crane systems, distributed mass double pendulum crane systems, and multi-crane cooperative transportation systems are introduced in detail. Finally, the research status of crane control systems for large-size cargo transportation is summarized, and the possible key problems and future research directions are discussed and prospected.
- 参考文献/References:
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备注/Memo
收稿日期:2022-01-30。
基金项目:国家自然科学基金项目(U20A20198，61873134，61903120)；天津市自然科学基金项目(20JCYBJC01360)；河北省自然科学基金项目(F2020202006)；中国博士后科学基金项目(2021M701779).
作者简介:陈鹤，副教授，博士生导师，主要研究方向为欠驱动系统、智能机器人;吴庆祥，助理研究员，博士，主要研究方向为欠驱动系统智能控制与工业应用;孙宁，教授，博士生导师，主要研究方向为驱动机器人（包括吊车/起重机）、气动人工肌肉机器人、特种工业机器人等系统的智能控制与应用等。曾获吴文俊人工智能自然科学一等奖、吴文俊人工智能优秀青年奖、天津市自然科学一等奖、2019中国智能制造十大科技进展、多个期刊/会议杰出/最佳论文奖等
通讯作者:孙宁. E-mail: sunn@nankai.edu.cn
更新日期/Last Update:
1900-01-01