| 基于输入整形技术的吊车系统防摆控制 |
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| 引用本文： | 熊伟,梁艳阳,武丽,苏士斌.基于输入整形技术的吊车系统防摆控制[J].计算机与数字工程,2011,39(2):148-151. |
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| 作者姓名： | 熊伟 梁艳阳 武丽 苏士斌 |
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| 作者单位： | 西南科技大学机器人技术及应用四川省重点实验室,绵阳,621010 |
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| 基金项目： | 西南科技大学博士研究基金项目(编号:08zx0111)资助 |
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| 摘 要： | 针对传统吊车防摆闭环控制方法存在的控制器设计相对复杂、控制效果不理想、不易实现等问题,提出了一种基于经典控制理论与前馈输入整形技术相结合的控制技术。首先,对吊车系统进行建模并简化数学模型,采用经典控制理论设计吊车的伺服控制系统。其次,在吊车伺服系统的基础上,引入输入整形技术设计吊车系统的ZV输入整形器。最后,通过MATLAB仿真验证所提出控制技术的有效性。
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| 关 键 词： | 吊车系统 防摆控制 输入整形 ZV整形器 |
Anti-swing Control of the Crane System Based On Input Shaping Technique |
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| Xiong Wei,Liang Yanyang,Wu Li,Su Shibin.Anti-swing Control of the Crane System Based On Input Shaping Technique[J].Computer and Digital Engineering,2011,39(2):148-151. |
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| Authors: | Xiong Wei Liang Yanyang Wu Li Su Shibin |
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| Affiliation: | Xiong Wei Liang Yanyang Wu Li Su Shibin(Sichuan Province Key Laboratory of Robot Technology & Application,Southwest University of Science and Technology,Mianyang 621010) |
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| Abstract: | This paper proposes a control technique based on classical control theory and feedforward input shaping technique for anti-swing control of the crane system considering for the complexity,insufficient performance and laborious controller realization of the traditional close-loop control strategy.Firstly,basic mathematical model of the crane system is established,and then servo control system for the derived simplified model is designed adopting classical control theory.Secondly,on the basis of crane servo s... |
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| Keywords: | crane system anti-swing control input shaping ZV shaper |
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