工矿自动化2011，Vol.37Issue(9)：67-71,5.DOI:32-1627/TP.20110828.1431.017
起重机升降运动系统自适应Backstepping控制研究
Research of Adaptive Backstepping Control of Crane Hoisting System
牛超 1姚玉梅2
作者信息
- 1. 河南机电职业学院机械工程系,河南 郑州 450002
- 2. 焦煤集团教育培训中心,河南 焦作 454003
- 折叠
摘要
Abstract
Relationship of all parts of crane hoisting system was analyzed and mathematic model of the system was established, so as to effectively unify moving states of motor and loads of the system. A controller of load position of crane hoisting system based on adaptive Backstepping strategy was designed on the basis of the model, which takes load position as a control variable. The simulation result showed that the controller not only has faster responding speed and smaller tracking error, but also restrains influence of load wave and parameter perturbation effectively with good robustness.关键词
起重机/升降运动/自适应反推控制/鲁棒性Key words
crane/ hoisting movement/ adaptive backstepping control/ robustness分类
信息技术与安全科学引用本文复制引用
牛超,姚玉梅..起重机升降运动系统自适应Backstepping控制研究[J].工矿自动化,2011,37(9):67-71,5.
