基于动态误差最小的起重机最优消摆控制

The Optimal Anti-sway Method of Crane

起重机在运行过程中其载荷连同缆绳会产生弱阻尼摆振,影响载荷就位精度和生产效率。目前最优控制技术和电机无级调速技术的迅速发展,提供了经过连续改变起重机运行速度来消除摆振的可能性。本文根据载荷摆振模型,采用极点配置技术,以积分二次型指标提出了最优消摆对策,同时实现了消除摆振、提高运行速度两个目标。模拟实验证明,在起动和制动过程中,载荷只摆动一次其幅值就被消除了95%。

The load and rope generate underdonmp sway in the crane working process,the load location precision and the work efficiency are reduced. This paper presents an operating speed raising via the poles disposition technique and the integral quadratic index. The simulation results show that the 95% of load sway amplitude can be eliminated after a cycle during the starting process or the braking process.