【摘要】 为解决水电站闸门启闭机作业过程吊重入槽干涉的问题，基于吊重空间三维状态反馈，对吊重底部与门槽几何空间进行干涉判断，并控制起升机构下降速度，实现吊重安全入槽。构建出由吊重横滚角和俯仰角为模糊变量的模糊控制算法，实时调整起升机构的下降速度。联合闸门启闭机小车消摆控制算法，构建吊重入槽干涉的模糊判断与控制组合算法。通过仿真与试验研究表明：吊重在外界干扰下可以安全入槽，保障了水电站闸门启闭机无人作业下安全运行。更多还原

【Abstract】 In order to solve the problem of interference of lifting weight into the groove during the operation process of the gate hoist of the hydropower station, based on the three-dimensional state feedback of the lifting space, the interference judgment between the bottom of the lifting weight and the geometric space of the door groove was carried out, and the descending speed of the lifting mechanism was controlled to realize the safe entry of the lifting weight. A fuzzy control algorithm with the roll angle and pitch angle of the lifting weight as fuzzy variables is constructed to adjust the descending speed of the lifting mechanism in real time. Combined with the sway elimination control algorithm of the gate hoist trolley, the fuzzy judgment and control combination algorithm of the interference of the crane re-entry groove was constructed. Through simulation and experimental research, it is shown that the lifting weight can safely enter the groove under external interference, which ensures the safe operation of the gate hoist of the hydropower station under unmanned operation.更多还原