摘要
针对桥吊系统的非线性和不确定性,利用Lagrange方程建立其数学模型,从能量守恒角度设计了基于小车速度切换的防摇控制方法.由摄像头和反光板组成的传感器将检测到的图像经处理后得到吊具的角度.当吊具到达最低点时,将小车的速度进行相应的切换,使得吊具与小车相对速度为零,从而消除摆动.当小车在目标位置停止时,吊具的摆角范围为±0.01 rad,完全满足系统设计的要求.计算机仿真和桥吊装置试验结果表明所提算法的有效性.
A mathematical model of the overhead crane is proposed based on the Lagrange equation to deal with the overhead crane system with nonlinearities and uncertainties. An anti-swing switching control from the point view of the conservation of energy is presented. The sensor which is composed of the camera and reflectors detects the image to obtain the swing angle signal. To eliminate the swing angle, when the lifter reaches the lowest point, velocity-switching instruction of the trolley is given such that the relative velocity between the trolley and the lifter is zero. The range of the load swing angle is ± 0. 01 rad when the trolley stops at the target position. Computer simulations and ex- perimental results verify the effectiveness of the proposed method.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2011年第B09期23-26,共4页
Journal of Southeast University：Natural Science Edition
基金
教育部高校博士点专项基金资助项目(20090092120027)
江苏省自然科学基金资助项目(BK2010200)
关键词
非线性系统
防摇
切换控制
桥吊
nonlinear system
anti-swing
switching control
overhead cranes
