桥门式起重机吊重防摇状态反馈控制系统设计

Design of the state feedback control system for the load's anti-swing of overhead crane

为了防止桥门式起重机吊重在目标位置和期望时间时摇摆,针对电压控制直流电机驱动的小车吊重系统,建立了系统动力学方程,并在工程实用和允许范围内对该方程进行简化和状态空间描述。通过状态反馈控制,并考虑一对闭环主导极点,类似二阶系统性能分析推导出反馈控制器的调节参数公式。仿真结果表明小车在目标位置10 m、期望调节时间7s静止,同时吊重摆角衰减为零,控制系统具有良好的稳定性和期望的动态特性。

In order to prevent the load＇ s anti-swing of the overhead crane or gantry crane at objective position and at expected time, the system＇s dynamic equations were established, and described with state space in the range of engineering practicability and permissibility for the trolley-load＇ s system with the DC motor. A pair of dominant 2nd-order poles was taken into account and adjusting parameter equation was derived by state feedback control, and with analysis way to similar 2nd-order system. The anti-swing control system＇s poles may be placed at expected poles according to the system＇s dynamic parameters and the adjusting parameter equation. The simulation results show that the trolley may be positioned at the target position 10 m, and the load＇ s swing may be attenuated to zero at the expected adjusting time 7 s. The anti-swing control system has favorable stability and dynamic characteristic.