起重机线性二次型最优消摆控制

The Linear Quadratic Optimal Anti-sway Control on Crane

文章提出了一种起重机消摆控制算法 ,这种算法满足线性二次型最优控制。模拟实验中在一个摆振周期内消除摆振 ;模型起重机上实验摆振衰减率达 90

A new algorithm on the crane anti sway control is proposed in this paper.The algorithm satisfies the linear quadratic optimal control. In the computer simulate experiment,the sway was suppressed in a sway period.And on a model crane,the sway damp rate surpassed 90%.