CAJ | 학술논문

针对桥式起重机荷载的残留摆动问题，提出一种基于S型曲线的轨道生成法实现残留摆动抑制。首先，导出桥式起重机的简易动力学模型。其次，基于该模型通过数值计算生成同时考虑了最短运输时间和残留摆动的最优S型曲线轨道。最后，比较仿真和实验结果验证所提方法的有效性。通过使用此法可以实现在无测量摆角的传感器系统情况下准确迅速地操作起重机，从而大大地简化其结构和降低其安装成本。
침대교식기중궤하재적잔류파동문제，제출일충기우S형곡선적궤도생성법실현잔류파동억제。수선，도출교식기중궤적간역동역학모형。기차，기우해모형통과수치계산생성동시고필료최단운수시간화잔류파동적최우S형곡선궤도。최후，비교방진화실험결과험증소제방법적유효성。통과사용차법가이실현재무측량파각적전감기계통정황하준학신속지조작기중궤，종이대대지간화기결구화강저기안장성본。
Aiming at the residual load sway problem of overhead cranes,an S-shaped curve trajectory generation method was proposed to realize residual load sway suppression.Firstly,a dynamic model of an overhead crane was derived.Next,an optimal S-shaped curve trajectory getting the shortest transport time and residual load sway suppression was generated with the numerical calculation method.Finally,comparing the results of simulations and tests validated the effectiveness of the proposed method.Thus,the crane could be precisely and rapidly operated without sensor systems for measuring load sway,the structure of the crane was simplified and its installing cost was reduced.