提升起重机的时滞滤波消摆控制  

Time-delay Filter Anti-sway Control of Cranes with Load

作　　者：梁春燕[1] 贾青[1] 谢剑英[1] 

机构地区：[1]上海交通大学自动化系,上海200030

出　　处：《应用科学学报》2001年第2期157-160,共4页Journal of Applied Sciences

摘　　要：将一种新的能抑制系统残留振荡的时滞滤波器技术应用到起重机的消摆控制中 ,有效地消除了载荷的摆动 .时滞滤波器在系统中作为一前馈型控制器 ,不需要测量载荷的摆角 ,仅通过对任意形式的控制信号进行整形来消除残留振荡 ,应用简单 .仿真结果表明 ,时滞滤波器能够有效地消除载荷摆动 。In this paper, time delay filter technique is applied to the anti sway control of cranes with load and is shown to significantly eliminate load residual sway. As a feedforward unit, time delay filter does not require the measurement of swing angel of the load. It can eliminate load residual swing by merely shaping the acceleration control signal. It is a simple and easy method to be implemented in the microcomputer.

关 键 词：提升起重机 时滞滤波器 消摆控制 载荷摆动 前馈型控制器 缆绳 

分 类 号：TH21[机械工程—机械制造及自动化]