Residual Vibration Suppression of Crane Movement by Input Shaping: Experimental Investigation and Finite Element Dynamics Simulations

輸入修正法於天車晃振壓制：實驗研究與有限元素分析

戴辰軒(Cheng-Xuan Dai) ； 陳國聲(Kuo-Shen Chen)

《中國機械工程學刊》 34卷6期 (2013/12) Pp. 497-506

摘要

天車傳輸在運動過程中，系統主體會因加減速的慣性力而產生振動，降低定位精度，增加達成工作目標所需之時間，甚至會對工作人員的安全造成威脅。而輸入修正法提供了一個有效且低成本的減振策略。然而，在相關研究中，普遍皆以一維運動之剛體單擺作為天車系統之等效模型，此簡化模型可能無法完整地表現出系統應有的運動特性，而利用解析法處理複雜度較高的系統時，將會碰到極大的計算困難。本文提出以有限元素法作天車系統之動態分析模擬，並分別建立剛體單擺與撓性單擺作為天車系統之等效模型，利用雙軸線性馬達作為傳輸機構於二維平面上運動，針對系統之振動模態設計輸入修正法，經由模擬與實驗驗證其振動抑制效果，並做參數不確定之強健性研究。結果顯示，輸入修正法可使系統快速且平穩地到達目標位置，加減速瞬間的晃動量最佳可降低至未控制的四分之一以下，並可降低約90%的殘餘振動量。經由模擬與實驗結果的比較，有限元素法於天車系統之動態分析模擬是相當方便且有效率，並具有非常高的準確度。本研究將有助於長距離移動系統振動抑制之相關應用。

並列摘要

Cranes play important roles for transferring a payload. Motion induced swings during crane maneuver make it difficult to move the payload rapidly with high positioning accuracy and could possibly cause safety concern in hazardous environments. Input shaping provides an effective method of suppressing the payload swings and residual vibrations during a rapid maneuver. However, the traditional designs of input shapers have all been based on rigid pendulum dynamics, which may not be realistic for many applications. In this paper, we integrate finite element dynamic analysis with shaper design to suppress swing and vibrations for crane-based transportation. A pendulum mounted on a two-axis liner servomotor is designed and fabricated to serve as a platform to simulate the crane motion with a payload. Zero Vibration (ZV) and Zero Vibration and Derivative (ZVD) shapers are used. Robustness of these shapers is investigated through both simulations and experiments. The results demonstrate that the input shaping methods allow the test system moving smoothly and rapidly to the destination with only a small swing and almost no residual vibration. Finally, the cable compliance is considered and multiple-mode shaping schemes are designed based on finite element analysis. The simulation results indicate that the finite element simulation can be a powerful tool for analyzing the dynamics for designing shapers in more realistic and complicated mechanical systems.

並列關鍵字

Input Shaping ； Crane ； Swing ； Residual Vibration ； Finite Element Analysis