摘要
舍弃传统以动力学控制作为研究对象,在分析桥式起重机系统运动学模型的基础上,提出一种以加速度作为直接输出的三维输入模糊控制方法。该方法以角度、角速度作为其中两维输入,另一维则采用速度差值和位置差值的组合量作为输入,同时该组合量自带阻尼特性,使得该控制方法既能很好地抑制摆角,又能具有优良的速度、位置跟踪特性。
Discarding the traditional dynamic control as the research object,based on the analysis of the kinetic model of the overhead traveling crane system,a three-dimensional input fuzzy control method with acceleration as the direct output is proposed.It the method,the angle and angular velocity are used as the two-dimensional input and in the other dimension,the combination of velocity and position difference is used as the third input.At the same time,the combination with self-damping characteristic makes the control method not only can be used to restrain the swing angle but also have excellent speed position tracking capability.
作者
白心阳
游有鹏
BAI Xinyang;YOU Youpeng(College of Mechanical and Electronic Engineering,Nanjing University of Aeronauticsand Astronautics,Nanjing 210016,China)
出处
《机械制造与自动化》
2019年第3期21-24,共4页
Machine Building & Automation
基金
国家科技支撑计划项目(2015BAF06 B03)
关键词
桥式起重机
闭环防摇摆控制
加速度
模糊控制
速度位置双跟踪
阻尼
bridge crane
closed-loop anti-swing control
acceleration
fuzzy control
dual speed position tracking
damping
