摘要
回转塔式起重机是包含3个刚性模态的柔性系统,3个刚体的运动使载荷产生空间摆运动,变幅和回转运动影响摆动的幅值,起升运动改变了摆动的频率和阻尼.本文提出通过控制一个柔性模态来消除载荷的摆动,另一个柔性模态由机械结构来消除的控制方案,并且设计最优时滞控制器消除载荷的残留振荡,使摆动能量最小,仿真结果证明了这一控制策略的有效性.
A rotary tower crane is a flexible system containing three rigid modes and the motions of the rigid structures induce the spatial pendulum-like motion of payloads.The motions of transferring and slewing affect the amplitude of the sway, while motion of raising or lowering changes the frequency and damping of the flexible mode.To eliminate the sway,we present a control scheme,which control one flexible mode,while another is cancelled by a mechanical structure.And an optimal time delay controller is designed ...
出处
《应用基础与工程科学学报》
EI
CSCD
2005年第S1期70-75,共6页
Journal of Basic Science and Engineering
基金
国家自然科学基金重点项目资助(50435020)
关键词
起重机
时滞控制
摆动
优化
crane
time-delay control
vibration
optimization
