基于二次型最优控制的起重机开环消摆方法

Open-loop Anti-sway Scheme of Crane Based on Quadratic Optimal Control

起重机载荷摆振主要是由载荷水平运动引起的。由于这类运动是确定性的,可以事先唯一地求出,由此设计出一种最优控制器,按照二次型最优消摆规律消除载荷摆振。这种方法是开环的,不需要角度传感器或角加速度传感器,降低了消摆控制系统的造价,提高了可靠性。但这种方法只能消除确定性扰动造成的载荷摆振,对随机干扰造成的摆振无效。

The load sway of crane is mainly generated by its horizontal motion. For this kind of motion is determinated, it is feasible to be worked out uniquely in advance and design an optimal controller to suppress the load sway according to the quadratic optimal law. Such method is open-looped, it is no need of angle and angle-acceleration transducer, which reduced the cost of the anti-sway control system and promoted the system＇s dependability. Such method can only suppress the load sway generated by determinate disturbance, but is of no effect on random disturbance.