基于DSP的桥门式起重机吊重防摇控制系统设计

Design of load's anti-swing control system of overhead or gantry crane based on DSP

介绍了桥门式起重机吊重防摇控制系统的硬件结构和系统控制策略。针对电压控制直流电机驱动的小车吊重系统,建立系统动力学方程,并进行状态空间描述。小车吊重开环系统是不稳定的,采取状态反馈控制,根据系统实际动力学参数和调节参数,将防摇控制系统极点配置在期望极点。仿真结果表明吊重摆角能在目标位置和期望时间内衰减为零,系统具有较好的稳定性和瞬间动态特性。

This paper introduced the hardware structure and control arithmetic of load＇s anti-swing control system of overhead and gantry crane. The system dynamic equations were established and described with state space for the trolley-load＇s system with the DC motor. The open-loop system of trolley-load was unstable and controllable. With state feedback control, the control system＇s poles can be placed at poles expected according to the system＇s dynamic parameters and the adjusting parameters. The simulation has indicated that the load＇s swing may be attenuated to the zero at the objective place and on time expected and the system has favorable stability and dynamic performance.