中国机械工程Issue(5)：606-610,611,6.DOI:10.3969/j.issn.1004132X.2015.05.007
起重机变幅运动吊重防摆控制研究
Load Anti-sway Control of Luffing Motion for Cranes
摘要
Abstract
Aiming at the problems of poor precision,low operation efficiency and low security due to the load oscillation of luffing motion for crane,an error asymptotic compensation control method was proposed to minimize the sway angle of load.Based on the analysis of error asymptotic compensa-tion control theory,the error asymptotic compensation controller was designed.Through appropriate adj ustments to the two stage compensation coefficients,the sway angle of the lifted load was gradual-ly decreased,meanwhile,the requirements of the acceleration and the pump displacement were met. The MATLAB simulation results show that error asymptotic compensation controller has good ro-bustness and control precision for different ropes and jib lengths.After the crane began to brake,the sway angle is reduced to below 0•003 rad in 10 seconds.关键词
起重机/变幅运动/吊重摆动/误差渐进补偿控制器Key words
crane/luffing motion/load oscillation/error asymptotic compensation controller分类
机械制造引用本文复制引用
曹旭阳,袁靖,李万里,丁冲..起重机变幅运动吊重防摆控制研究[J].中国机械工程,2015,(5):606-610,611,6.基金项目
工业信息化部高技术船舶科研项目 （）
