摘要
针对起重机工作过程中起吊物经常有初始摆动的现象,为提升起重机作业效率,提高起重机吊装对位准确性以及实现起重机自动控制,文中提出了一种有效的起吊物初始摆动的摆动控制系统,研究了各控制参数的选择,分析了控制系统的特征,得到了优化控制范围和最优控制点。该摆动控制系统是非线性控制系统,与常规摆动控制相比,具有控制系统复杂、控制难度大等特点,数值仿真试验结果验证了提出方法的有效性。
Aiming at initial swing phenomenon of lifting objects during crane operation,the paper puts forward an effective swing control system to improve the crane efficiency and hoisting positioning accuracy,and realize automatic control to crane,with research on selection of control parameters,and analysis of characteristics of the control system.The optimal control scope and best control points are worked out in the paper.Such swing control system is non-linear control system,which is more complex and more difficult to realize the control to load swing than normal swing control methods.The numerical simulation test verifies the effectiveness of the proposed method.
出处
《起重运输机械》
2012年第10期5-12,共8页
Hoisting and Conveying Machinery
关键词
起重机
初始摆动控制
运动控制
最优控制范围
数值仿真
crane
initial swing control
motion control
optimum control scope
numerical simulation
