基于输入整形技术的吊车系统防摆控制

摘要

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 system, input shaping technique is introduced to the servo control system and anti-swing ZV input shaper is obtained. Finally, simulation in MATLAB environment validates the proposed control technique.%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.