基于状态估计的起重机吊重摆角信息获取方法

Method of Obtaining Load's Swing Angle Information Based on State Estimation for Cranes

针对工程实际应用中桥式起重机或门式起重机吊重摆角和摆角角速度不易直接测量的问题,利用小车位置信息设计了状态观测器,对吊重摆角和摆角角速度信息进行估计.通过引入观测器输出与小车吊重系统输出之间的差值,该差值经过观测器的增益向量调节送至观测器的输入端,将观测器的极点配置在负实轴上,实现观测器对摆角和摆角角速度稳定、快速估计.仿真研究表明:基于状态估计的吊重摆角信息获取方法可行,观测器具有较强的鲁棒性;随极点增大,观测器对吊重和绳长变化具有更宽的适应范围,但极点过大时,会出现估计误差上冲或下冲现象;当极点确定时,观测器对绳长变化比吊重变化敏感.

In order to resolve the problem that the load＇s swing angle and swing angle-velocity are hard to measure directly for overhead crane or gantry crane in engineering practice, the state observer is designed by using trolley＇s position information, and the load＇s swing angle and angle-velocity are estimated. The difference value between the state observer＇s output and the trolley-load system＇s output is introduced and adjusted by the observer＇s gain vector, then it is sent to the observer＇s input terminal. The observer＇s poles are placed at the negative real axis on complex plane, and the system can estimate the swing angle and swing angle-velocity stably and quickly. Simulation results show that the obtaining method of load＇s swing angle information based on state estimation is practicable and the observer has strong robust property and can be more widely adaptive for the changes of load mass and rope length when the poles increase. However, estimation error will be up or down rushing when the poles are too large. Observer is more sensitive to the change of rope length than the change of load mass when the poles are determined.