Abstract: The main control objective of bridge crane systems is to transport cargos to the desired location rapidly and accurately, with cargos swing being as small as possible in the transportation process. In order to tackle this problem, a differential flatness theory based model predictive control approach is presented in this paper to guarantee playload to reach desired location rapidly and accurately while simultaneously limiting swing of playload within a safe range. According to the differential flatness property of bridge crane systems, a predictive model in form of differential flat outputs with a simple structure is established, and dynamic characteristics of the model are used to achieve system optimum online. Simulation results illustrate the proposed method can achieve bridge crane’s trolley positioning rapidly while simultaneously limiting playload's swing angle within a permitted range.

Key words: Bridge cranes, differential flatness, model predictive control, positioning and anti-swing

摘要： 桥式起重机系统的主要控制目标是将货物快速、精确地运送到目标位置，且在该过程中尽可能地减小负载的摆动幅度。为此，提出了一种基于微分平坦理论的模型预测方法，可在保证负载快速精确到达目标位置的同时，有效地将负载摆动的幅度限制在安全的范围内。根据起重机系统的微分平坦性质，构造了结构简单、具有微分平坦输出形式的预测模型，将负载的摆角约束转化为对该预测模型的输入约束，然后对系统进行在线优化控制。仿真结果表明该方法在实现桥式起重机台车快速精确定位的同时，能够将负载摆角限制在允许的范围内。

关键词: 桥式起重机, 微分平坦, 模型预测控制, 定位与消摆