摘要
针对门式起重机工作过程中吊重受惯性力及外载荷干扰引起的摆动现象,依据拉格朗日方程建立起重机动力学方程及状态空间方程,利用LQR线性二次型最优控制方法对起重机的摆动进行了分析控制,并采用Matlab软件对其进行了仿真.结果表明,这种控制方法能有效地使门式起重机负载在最短的时间内达到期望的定位点,提高了工作效率及作业安全性,这种方法也可推广到其它起重机的防摆控制系统设计上.
Aiming at the swing phenomenon caused by inertia force and external loads during gantry crane working, the dynamical equation and state space equation are established based on Lagrangian equationl and then the swing phenomenon is analyzed by LQR linearity secondary optimal control method, and simulated the equation by Matlab software. The results show that this method can reduce time of crane swing and improve the precision of orientation and working efficiency. This method has important meanings for improving the security and working efficiency of gantry crane, and can be extended to other cranes.
出处
《三峡大学学报（自然科学版）》
CAS
2011年第2期75-78,91,共5页
Journal of China Three Gorges University：Natural Sciences
关键词
门式起重机
防摆
LQR
控制
gantry crane
preventing swing
LQR
control
