桥式起重机的定位和防摆控制研究  

Study of Anti-Swing and Position Control for Bridge Cranes

作　　者：王克琦[1] 

机构地区：[1]潍坊学院机电工程学院,中国潍坊261061

出　　处：《系统仿真学报》2007年第8期1799-1802,共4页Journal of System Simulation

摘　　要：针对起重机数学模型为一个激励不足的非线性耦合系统,提出了一种部分解耦的非线性控制方法,将系统设计转化为对位置和绳长进行伺服控制,摆角保持稳定两个目标进行处理。首先对起重机的位置和绳长部分进行了解耦和线性化,对部分解耦后的系统设计了控制器。数字仿真实验表明该方法能同时实现起重机系统变绳长定位控制和重物防摆的功能,从而提高起重机的运行效率。Aiming at crane system＇s characteristics of under-actuated, nonlinear and coupling, a partial nonlinear decoupled controller was proposed, and the design of system was turned to control system＇s cart position and cord lengthen andput the angle keep stable. The system＇s cart position and cord length were linearized and uncoupled, and the controllers were designed for the system. Simulation results show that the presented controller can realize positioning and anti-swaying with variable cord length simultaneously, which means the enhancement of crane system＇s work efficiency.

关 键 词：起重机 非线性控制 全状态反馈 精确线性化 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]