起重机吊重系统降维观测器设计与仿真

Design and Simulation on Reduce-Order State Observer for Crane Load System

研究起重机吊重系统稳定性控制问题,由于吊重过程产生摆动,起重机吊重系统防摇控制技术中的摆角和摆角速度信息难以准确测量,影响吊重的安全性。为此提出设计了起重机吊重系统降维状态观测器,给出了状态观测器的结构和增益矩阵,实现对摆角和摆角速度的状态信息重构。观测器能够分别在3.5s和1s内估计出系统的摆角和角速度,而且有较强的鲁棒性,实现防摇控制。由于观测器增益参数对观测器极点变化具有不同程度的敏感性,极点越大,收敛速度越快,观测时间越短。但是极点过大也会导致误差出现急剧峰值,不利于防摇实现。仿真结果表明,合理选择极点和设计降维观测器结构能够很好实现状态信息的软测量控制问题。

Research the stability control problem of crane load systems. Because of the sway produced by the load during the operating process, the angle and angular velocity information of the anti-swing technology for the crane load system are difficult to be measured accurately and affect loading security. Therefore, the paper put forward and designed the reduced-order state observer for the crane load system, gave the structure of the state observer and the calculation method of the gain matrix, and realized the reconstruction of angle and angular velocity information. The observer can estimate the crane angle and angular velocity information in 3.5 seconds and 1 second respectively with strong robustness, and realize the anti-swing control. Because the observer＇ s gain parameters have a different degree of sensitivity to pole value change, the bigger the pole value means, the faster the convergence speed and the shorter estimate time. However, the excessive big pole can also lead to a sharp peak value of errors which go against anti- swing implementation. The simulation results show that reasonably choosing pole value and designing the observer structure can well realize the indirect measurement of the state information.