塔式起重機操作時之晃動抑制與其酬載之姿態控制

Abstract

目前實際建築工地中塔式起重機是由操作員予以操作的，且在酬載運 送至定位後是利用人力將酬載扶正，有時由於操作不當而引起酬載晃動過 大，導致酬載墬落而造成重大的人員傷亡。基於勞工安全考量，必須發展 出一套實用的控制法則來抑制酬載送至定點後的晃動；另一方面亦希望設 計一酬載姿態遠端控制機構，以避免現場作人員在扶正酬載時的危險。 在這篇論文中，主要針對以上兩個問題提出解決之道，第一、在酬載晃動 抑制方面，利用Input Shaping的控制法則來抑制酬載運送至定點後的晃 動，而在本篇論文的研究成果即是將Input Shaping控制法則推廣成為起 重機伸臂可旋轉0到170度內的任意角度都能抑制吊掛物的晃動，而不像文 獻中只有旋轉90度的例子。推廣之步驟如下：首先利用能量的觀點推導數 學模型，再將伸臂的旋轉角度，從0到170度中以每5度的間隔切割，建立 通用的最佳化問題，然後利用基因遺傳演算法 (G.A.)來搜尋每一個角度 所對應的最佳控制參數，並將所有最佳參數建立成表格，利用曲線凝合法 （curve fitting）求出最佳參數的曲線，利用此曲線做前端命令控制， 即可達到要求。第二、在控制酬載姿態方面，利用作用力與反作用力的原 理，設計出酬載姿態控制機構，此機構可在遠端控制酬載的旋轉角度和傾 斜角度，並且將此控制機構模組化以方便拆裝。 最後以模擬與實驗驗證推廣後的Input Shaping（GIS）控制法則和酬載控 制器可行性。 Presently, tower crane is operated by human operators in construction sites. After payload is transported to the appointed position, local agent must adjust the attitude of payload. Sometime when the operator operates the crane, it may cause excessive sway of payload, then it is very dangerous for the people in construction sites. For avoiding these danger, the control algorithm of crane and attitude remote control mechanism of payload must be developed. In this paper, we offer the method for this two problems, First in vibration suppression for crane maneuvers: we use "Input-Shaping" which is our control algorithm to suppress the vibration of crane maneuvers. Our result of research is to generalize the "Input-Shaping" which let the boom of tower crane rotate any angle between 0 to 170 degree and suppress the vibration of crane maneuvers, not like the other research result which only rotate 90 degree. The step of generation is follow: we must get the mathematical model of tower crane first, then partition the angle between 0 to 170 degree, and build the optimization problem for every partitioned angle. To solve these optimization problem, we choose the "Genetic Algorithms" to do this, then make an optimized solution table, use " curve fitting" to product the optimized curve. Our precompenstor is this curve, and can reach the goal. Second in payload attitude remote control: use the theory of action and reaction force, we designed the control mechanism which can control the rotation and title angle of payload. This control mechanism is operated by local agent in remote side, and this control mechanism has been modularized for convenient use. Finally, we prove the practicability of "Generalized Input- Shaping" and remote control mechanism by simulation and experiment.