吊车防摆最优调节器设计

The Design of Optimal Controller for Crane s Unswing

本文对吊车在吊装货物时如何消除货物的摆动进行了研究,提出了利用最优状态调节器进行消摆的方案,并进行了计算机仿真和在吊车模型上的实时控制实验,结果表明,该方法具有很好的消摆效果和较强的鲁棒性。

The method of preventing swing of crane is studied in this paper. And a optimal controller is designed.The results of the simulation and the realtime control are satisfy.