东南大学学报（自然科学版）2011，Vol.41Issue(z1)：23-26,4.DOI:10.3969/j.issn.1001-0505.2011.S1.006
基于能量守恒的桥吊防摇切换控制
Anti-swing switching control for overhead cranes based on conservation of energy
摘要
Abstract
A mathematical model of the overhead crane is proposed based on the Lagrange equation to deal with the overhead crane system with nonlinearities and uncertainties. An anti-swing switching control from the point view of the conservation of energy is presented. The sensor which is composed of the camera and reflectors detects the image to obtain the swing angle signal. To eliminate the swing angle, when the lifter reaches the lowest point, velocity-switching instruction of the trolley is given such that the relative velocity between the trolley and the lifter is zero. The range of the load swing angle is ±0. 01 rad when the trolley stops at the target position. Computer simulations and experimental results verify the effectiveness of the proposed method.关键词
非线性系统/防摇/切换控制/桥吊Key words
nonlinear system/ anti-swing/ switching control/ overhead cranes分类
信息技术与安全科学引用本文复制引用
翟军勇..基于能量守恒的桥吊防摇切换控制[J].东南大学学报（自然科学版）,2011,41(z1):23-26,4.基金项目
教育部高校博士点专项基金资助项目(20090092120027)、江苏省自然科学基金资助项目(BK2010200). （20090092120027）
