基于自抗扰观测器控制的起重机防摆定位系统

Crane anti-swing position system with auto-disturbance resistant observer

针对桥式起重机水平运动系统是一个非线性、变参数、强耦合、欠驱动的系统,采用自抗扰观测器进行定位和防摆控制,自抗扰观测器可以对系统的内部扰动和外部扰动进行观测,并加以补偿。仿真实验结果表明,系统具有良好的动态、静态特性和强的鲁棒性。

Consdering that, the horizontal motion system of overhead traveling crane is a nonlinear, variable parameter, strong coupling and under- drive one, an auto- disturbance resistant controller （ADRC） is used to position the load and control load swing. The inner and outside disturbance can be observed and compensated by the auto- disturbance resistant controller （ADRC）. The simulation result shows that the system has better dynamic and static characteristics and strong robustness.