摘要
Abstract
In the study of crane positioning and anti-swing,the traditional modeling method will ignore the influence of electrical control system on the control effect.Therefore,in this paper,a research method of electromechanical coupling dynamics modeling is proposed.Firstly,the current research status of crane positioning and anti-swing control was analyzed,and the problems existing in the current research on positioning and anti-swing control of crane underactuated systems were pointed out.Then,the effect of current electromechanical coupling research methods on crane positioning and anti-swing control was discussed,and the modeling idea of electromechanical coupling dynamics based on analytical solution was put forward.The results show that the electromechanical coupling modeling can describe the positioning and anti-swing control model of crane more completely,and provide theoretical basis for its positioning and anti-swing control research.关键词
欠驱动系统/机电耦合建模/起重机械/定位防摆控制Key words
underactuated system/electromechanical coupling modeling/hoisting machinery/positioning and anti-swing control分类
机械制造
