English

应用科学学报 ›› 2001, Vol. 19 ›› Issue (2): 157-160.

• 论文 • 上一篇    下一篇

提升起重机的时滞滤波消摆控制

梁春燕, 贾青, 谢剑英   

  1. 上海交通大学自动化系, 上海 200030
  • 收稿日期:2000-05-09 修回日期:2000-08-06 出版日期:2001-06-30 发布日期:2001-06-30
  • 作者简介:梁春燕(1974-),女,山东济宁人,硕士生;谢剑英(1940-),男,福建龙岩人,教授,博导.

Time-delay Filter Anti-sway Control of Cranes with Load

LIANG Chun-yan, JIA Qing, XIE Jian-ying   

  1. Department of Automation, Shanghai Jiaotong University, Shanghai 200030, China
  • Received:2000-05-09 Revised:2000-08-06 Online:2001-06-30 Published:2001-06-30

PDF

89

被引次数

27

摘要： 将一种新的能抑制系统残留振荡的时滞滤波器技术应用到起重机的消摆控制中,有效地消除了载荷的摆动.时滞滤波器在系统中作为一前馈型控制器,不需要测量载荷的摆角,仅通过对任意形式的控制信号进行整形来消除残留振荡,应用简单.仿真结果表明,时滞滤波器能够有效地消除载荷摆动,对模型参数的变化有一定的鲁棒性.

关键词: 起重机, 消摆, 时滞滤波器

Abstract: In this paper, time-delay filter technique is applied to the anti-sway control of cranes with load and is shown to significantly eliminate load residual sway. As a feed forward unit, time-delay filter does not require the measurement of swing angel of the load. It can eliminate load residual swing by merely shaping the acceleration control signal. It is a simple and easy method to be implemented in the microcomputer.

Key words: cranes, anti-sway, time-delay filter

中图分类号: