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  • 學位論文

快速吊車控制方法

Control of fast Crane Operation

指導教授 : 康仕仲

摘要


吊車運行速度的挑戰在於速度和安全性之間的權衡,提升吊車操作速度往往導致吊物擺動加大,增加發生意外的可能性。雖然限制吊車運動速度以確保操作安全似乎是非常合理的,但累積起來的時間會影響整體工程的生產效率,因此一個有經驗的吊車控制手往往以技巧和直覺來經常性的變化速度,以提升吊車作業效率與安全。本研究提出一個小擺動角度的快速吊車控制方法,先利用單擺與雙擺的數學模型,作為理想化的吊車懸吊模型以發展減盪控制方法,然後對控制方法進行分析與尋找相關的操作參數,最終再以數學模型計算實驗來進行方法驗證。我的方法分為三個主要階段:階梯式加速度階段、等速度階段、階梯式減速度階段。在階梯式加速度階段使用兩個加速度的組合,以利減少振動並且控制擺角,接著在擺角為零的情形下達到最高運作速度。吊車隨後進入擺角為零且沒振動的第二階段。第三階段為階梯式減速度階段是停止吊車運行並且控制吊物無振動,這個階段和階梯式加速階段相似僅加速度方向相反。本方法的特色為操作時間與操作距離開根號成正比,因此在減少振盪的同時還加快了操作速度,十分適合長距離快速操作。我也對建議方法進行穩定度測試。以達到簡單、穩定以及高效率的目標。最後使用一個高精度的機器人手臂:庫卡機器手臂KR16,作為一個大型吊車的縮尺模式並進行實驗驗證本研究提出之方法。使用我的建議方案在機器手臂運作中可以顯著降低高速吊車操作時的擺動,實驗結果也和數值計算結果吻合。

並列摘要


Cranes are often in charge of the tasks in the critical path of construction schedule. The speed of crane erections can significantly influence the overall project progress. A fast crane operation may result in large sway of the hanging object and causes the safety concerns. This research aims to develop a simple control method for fast crane operations. The sway angle should be limited to maintain the controllability and safety. To achieve the goal, we first developed a mathematical model, using single and double pendulum to simulate the sway of the crane cable. By analyzing the motion of equation we found a three-stage procedure, (1) the piecewise acceleration, (2) the constant speed, and (3) the piecewise deceleration, can effectively reduce the sway angle yet maintain high-speed operations. From the numerical simulations we found that the operation time is proportional to the square root of the traveling distance, which indicates the three-stage procedure suit for fast operation especially longer distance. We also conducted a physical experiment using a high precision robot arm, the KUKA Robot KR 16, as a scaled crane to validate the predictions of the numerical experiments. The experiment results are in good agreement with numerically simulations. In short, the proposed method takes the advantage of the physics of pendulum motions. Without adding any sensor the operator can control the sway of the crane cable by following the principle of the three-stage procedure. In the future, the proposed open-loop control method can be integrated with crane control mechanism to promote safe and fast crane operation.

並列關鍵字

crane double pendulum vibration control sway angle KUKA

參考文獻


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