起重机小车吊重动力学系统状态空间重构  

Reconstruction of State Space of the Trolley-Load Dynamic System in Overhead or Gantry Cranes

作　　者：钟斌[1] 程文明[1] 马莉丽[2] 吴晓[1] 

机构地区：[1]西南交通大学机械工程研究所,四川成都610031 [2]南通纺织职业技术学院,江苏南通226001

出　　处：《西南交通大学学报》2007年第4期436-441,共6页Journal of Southwest Jiaotong University

基　　金：四川省科技攻关项目2006Z08-037;四川省应用基础研究项目(04JY029-058-1)

摘　　要：为获得桥门式起重机吊重摆角和摆角角速度等系统状态变量,计算得到状态观测器与小车吊重系统输出的差值,再经过观测器的增益向量调节送至观测器的反馈输入端.在系统参数确定时,观测器的极点位置是影响观测时间的主要参数.为了使观测器精确重构状态变量,将观测器的极点配置在复平面负实轴上,观测器极点分布与观测时间关系曲线的平缓变化区域.A full-state observer was designed to obtain swing angle, swing angle-velocity and the other system state variables. The differences of the observed outputs of the state observer from those of the trolley-load system are calculated first, and these differences are sent to the feedback input after adjusted by a gain vector. The coordinates of the observer＇s pole are the key parameters affecting observation time when other parameters are known. To reconstruct the state variables precisely, the observer＇s pole is placed on the negative real-axis in the complex plane, and in the flat range on the curves of observation time vs. coordinates of the observer＇s pole.

关 键 词：桥式起重机 门式起重机 小车吊重系统 动力学 状态观测器 状态空间 重构 

分 类 号：TH213[机械工程—机械制造及自动化] TP272[自动化与计算机技术—检测技术与自动化装置]