摘要
针对起重机模型的非线性和不确定性,设计了一种基于模糊的起重机的定位和防摆控制方法,利用2个模糊控制器对小车的位置和负载的摆动分别进行控制。与线性二次型最优控制(LQR)进行了比较,表明了该方法的良好性能,且该方法对不同的绳长和负载有着较好的鲁棒性。
In response to nonlinearity and uncertainty of crane model, it designs a control method for positioning and anti - swing of grab, which makes use of two fuzzy controllers to position trolley and eliminate load swing. Compared with linear quadratic regulator （LQR）, it is a better method and is robust to different rope length and loads.
出处
《起重运输机械》
北大核心
2007年第8期80-82,共3页
Hoisting and Conveying Machinery
关键词
桥式起重机
定位和防摆控制
模糊控制
线性二次型最优控制
overhead traveling crane
positioning and anti - swing control
fuzzy control
linear quadratic regulator
