| 英文摘要 | Crane system is one of the popular mechanic transportation systems used in industrial manufacturing. It functions mainly on destination control and anti-sway control. In some special occasions, for example, lifting some valuable, fragile and eccentric payloads, we should firstly adjust the payload attaching plane (PAP) to be highly level, then process anti-sway control and destination control, otherwise, the PAP would be collided and hurt. In traditional crane research, there are no enough focuses on highly precise leveling adjustment. So this paper mainly focuses on the highly precise leveling adjustment of crane systems as follows: Firstly, in order to design a leveling device for crane systems with adequate performances, we design as many as four schemes based on different leveling principles, according to the most popular leveling technique in industrial applications: Gravity Compensation technique. And particularize every device’s advantages and disadvantages in detail. Meanwhile, we select out the best leveling device from the four schemes, based on the efficiency of servo-motors and the projection area of compensation weights. Secondly, in order to get the mechanical model of this leveling device, we firstly make some reasonable assumptions according to project application requirements, and then establish a World Coordinate System(WCS) at the hook on the upper surface of the leveling device as well as a Device Coordinate System(DCS) on the upper surface of the payload. In virtue of Coordinate Space Transformation techniques, the function between PAP oblique angles and rotation angles of the two compensation weights is concluded as the mechanical model of this leveling device. Thirdly, in order to verify the feasibility of the crane device, basing on the mechanical model, we realize the simulation of the leveling adjustment process of crane system, with the help of the 3D modeling function of SolidWorks, and V-Realm Builder as well as the virtual reality toolbox in Matlab. The simulation verifies the feasibility and efficiency of this leveling device. Finally, in order to realize the self-leveling function in real occasions, we adopt the TAG (Try And Get) method to solve the specific parameters of the eccentric payload in advance. However, considering the assumptions during modeling and various kinds of noises in real project environments, we apply Mean Value Method to eliminate the influences of noises. Then combining TAG method and this strategy, this paper proposes the On-Line TAG method to realize the steps for leveling adjustment. The satisfying simulation results show the efficiency of this method. |
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