【摘要】 针对龙门吊车这一典型的欠驱动机械系统,采用拉格朗日方程的方法建立了其动力学模型。该模型同时考虑了吊车系统水平方向、前后方向和垂直方向上的三维运动以及由这些运动导致的负载摆角变化,且负载在三维空间的摆动角度通过特殊定义的二维平面的摆角进行描述。根据负载摆角的定义方式,取消三维吊车系统动力学模型的一个运动自由度直接将得到广泛研究的二维吊车系统的动力学模型。为了便于进行控制器的设计,还给出了近似条件下的龙门吊车系统的线性化模型。最后,数字仿真实验结果证明了动力学模型的有效性。更多还原

【Abstract】 Based on Lagrange equations,a dynamic model is derived for typical underactuated mechanical gantry crane system.The dynamic model considers the simultaneous traveling,traversing,and hoisting motions of the crane,and the resulting payload swing;and the swing angle of the payload in space is described by specially defined two-degree-of-freedom angle.Thanks to the characteristics of the proposed swing angle description,the dynamic model for the three-dimensional crane can be easily reduced to that of a two-dimensional crane by deleting one degree.For the controller design,the linearized dynamic model is also presented with the linearization conditions.Finally,simulation results demonstrate the effectiveness of the prompted dynamic model.更多还原