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摘要
For the underactuated cranes, the existing methods only consider how to eliminate the swing angle. However, there may still be serious resonance on the wire rope when the swing angle of the wire rope is very small. Aiming at the problem of harmonic elimination of crane, a nonlinear resonant torque model based on a wire rope motor shaft is proposed in this paper. Specifically, firstly, a nonlinear resonance torque model is established by using the method of vibration mechanics. The model can reduce the nonlinear resonance torque on the steel wire rope to the motor shaft, and then adjust the output torque of the motor through the motor controller, so that a nonlinear resonance torque with equal size and opposite direction is superimposed on the main torque of the fundamental wave output by the motor, so as to eliminate the resonance torque on the steel wire rope. Finally, the Simulink simulation and experiments show that this method has good control performance, which can not only effectively eliminate the resonance on the steel wire rope, but also further reduce the swing angle. ? 2023 South China University of Technology.
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