摘要
提出了起重机——吊具的双摆振动模型和反摆控制策略,并运用动态变量优化算法计算了系统反摆控制过程的最优控制律。仿真结果表明这里所提出的双摆振动模型和反摆控制策略,能够快速、有效地实现系统的反摆控制和车轮的定位控制。并且这里反摆控制策略可提高起重机(或小车)的运行速度。
In this paper, double pendulum model of the crane swing and a control strategy of nonlinear system are proposed, and calculating the optimal control law by using the dynamic variables optimization method. The simulation results show that the anti-sway control of the cart-lifters is performances effectively and successfully, while the moving speed of the crane (or cart) increases.
出处
《机械设计与制造》
2004年第4期58-60,共3页
Machinery Design & Manufacture
关键词
起重机
非线性系统
反摆控制
动态变量优化
Crane
Non-linear system
Anti-sway control
Dynamic variables optimization
