起重机小车吊重动力学系统状态空间重构

Reconstruction of State Space of the Trolley-Load Dynamic System in Overhead or Gantry Cranes

为获得桥门式起重机吊重摆角和摆角角速度等系统状态变量,计算得到状态观测器与小车吊重系统输出的差值,再经过观测器的增益向量调节送至观测器的反馈输入端.在系统参数确定时,观测器的极点位置是影响观测时间的主要参数.为了使观测器精确重构状态变量,将观测器的极点配置在复平面负实轴上,观测器极点分布与观测时间关系曲线的平缓变化区域.

A full-state observer was designed to obtain swing angle, swing angle-velocity and the other system state variables. The differences of the observed outputs of the state observer from those of the trolley-load system are calculated first, and these differences are sent to the feedback input after adjusted by a gain vector. The coordinates of the observer＇s pole are the key parameters affecting observation time when other parameters are known. To reconstruct the state variables precisely, the observer＇s pole is placed on the negative real-axis in the complex plane, and in the flat range on the curves of observation time vs. coordinates of the observer＇s pole.