基于降维观测器的起重机吊重防摇系统研究

Load Anti-swing System of Overhead Crane and Gantry Crane Based on Reduced Dimension Observer

对直流电压控制桥门式起重机小车驱动电机的小车吊重动力学系统,设置降维观测器,用小车位置和速度信息对摆角、摆角角速度和驱动力进行估计,从而解决了工程实际中这些状态变量不易直接测得的问题。为了防止吊重摇摆,采用全状态反馈形成吊重防摇的闭环控制系统,并给出了控制系统结构以及降维观测器和反馈控制器增益参数的确定方法。仿真结果表明:各状态变量能从观测时间开始消除重构误差;吊重摆角能在小车指定位置和时间内衰减为零,其余状态变量也有良好的动态特性。

The swing - angle, angle - velocity and driving force are estimated through a reduced dimension observer with the trolley＇ s position and velocity information for the trolley - load＇ s dynamic system drove by the DC motor. So, the problem, that these state variables are hard to measure, is resolved. In order to prevent load＇ s swing, a load＇ s closed - loop control system is constructed through the full - state feedback. The methods for setting the gains of the reduced dimension observer and the feedback controller are proposed. Simulation results show that all state variables＇ reconstructive errors can be eliminated starting from the observation; the load＇ s swing may be attenuated to zero, the other state variables have favorable dynamic characteristic.