起重机吊重系统状态观测器设计与仿真

针对工程实际中起重机吊重摆角和摆角角速度不易直接测量的问题,利用小车位置信息设计了状态观测器,对吊重摆角和摆角角速度信息进行估计。通过引入观测器输出与小车吊重系统输出之间的差值并经过观测器的增益向量调节送至观测器的输入端,合理配置观测器的极点,实现观测器对摆角和摆角角速度稳定、快速估计。仿真研究表明:基于状态估计的吊重摆角信息获取方法可行,观测器能在2s内实现在线观测,而且具有较强的鲁棒性;随着极点的增大,观测器对吊重和绳长的变化具有更宽的适应范围,但极点过大时,估计误差会出现上冲或下冲的现象;观测器对绳长的变化始终比对吊重的变化更敏感。

Design and Simulation on State Observer for Crane-load System

In order to resolve the problem that the load’s swing angle and swing angle-velocity of overhead crane or gantry crane are hard to be measured directly in engineering practice,the state observer was designed by using trolley’s position information to estimate the load’s swing angle and angle-velocity.The difference values between the state observer’s output and the trolley-load system’s output were introduced and adjusted by the observer’s gain vector and then sent to the observer’s input terminal.After the observer’s poles were placed on complex plane,the system can estimate the swing angle and swing angle-velocity stably and quickly.Simulation study shows that the method of obtaining load’s swing angle information based on state estimation is practicable,and state observer can be availlable online in 2s,which has strong robust property.Along with rising of the pole number,state observer can be adaptive more widely in the changing of load mass and rope length.However,estimation error will change roughly when the pole number is too hign,and observer is more sensitive to rope length than to load mass.