摘要
讨论了起重设备起升质量偏摆的过程模型及起升质量偏摆快速最优控制消摆。提出了一种只检测变幅小车运行速度实现消摆的半闭环控制方式，实验表明，该方法简单合理，易于工程实现。
This paper discusses the model for lifting capacity of the crane and optimal con-trol of eliminating swing in lifting process. One half loop control method is presented, which is onlyto examine and measure the trolley speed for eleiminating swing.The fact shows this methOd is sim-ple and practicle for enginceering.
关键词
起重设备
起升质量偏摆
最优控制
swing of lifting capacity,optimal control,switching curve.
