摘要
以桥式起重机这一被控对象的控制问题作为出发点,详细阐述了其建模方法,讨论了其最优控制策略;并针对设计过程中出现的LQ加权矩阵Q的选取难题给出了一种解析解和证明,同时运用这一结论计算出了实际问题中的加权矩阵Q,从而求得最优的状态反馈矩阵K;通过计算机仿真,当控制算法作用于被控对象时,系统能够获得满意的控制性能;同时也针对桥式起重机试验装置开展了一系列调试试验,最优状态反馈控制器通过四轴运动控制板卡得以实现;在试验中,试验装置其大小车都能够准确停车到位,并消除运动过程中的吊钩游摆;试验结果说明了防摆控制器设计方案是正确和有效的。
The paper described in detail its mathematical modeling method and optimal control tactics for solving an overhead crane＇ s control problem, and gave an analytical solution and its proof for a selection of the weighting matrix Q appearing in the LQ design process. At last applied the conclusion to calculate the weighting matrix Q in the practical problem and to obtain optimal state feedback matrix K. The simulation results showed that the system could obtain a satisfactory control performance when the control algorithm acted on the controlled object. And carried out a series of commissioning tests on a crane test device. The optimal state feedback controller could be realized through a four--axis motion control card. In the tests, the test device＇ s big cart and small cart could all achieve to fix crane＇ s position accurately and to eliminate pendulum of hook. The experimental results indicated that the anti--sway controller＇ s design was correct and effective.
出处
《计算机测量与控制》
北大核心
2014年第8期2451-2454,共4页
Computer Measurement &Control
基金
四川省教育厅项目(12ZB195)
