吊车防摆的鲁棒PID控制系统设计

摘要

龙门吊车利用绳索一类的柔性体代替刚体工作，以使得吊车的结构轻便，工作效率高。但是，采用柔性体吊运也带来一些负面影响，存在吊车负载重物的摆动问题。为了解决吊车负载重物的摆动问题，运用鲁棒控制理论分析设计出了一个双闭环的控制系统从而达到更好的稳定性能。最后，通过参数设置进行仿真可知“鲁棒PID控制”的双闭环防摆控制系统是稳定的。结果表明在绳长跟物重在一定的负荷要求范围内变动时，控制系统都能做出较快响应并能保证系统一定的稳定性，最终实现重物防摆的应用要求。%Gantry crane uses flexible body such as ropes to replace the steel body so that the crane is lighter, and works more efficiently. However, the use of flexible body also brings some negative effects, one of which is the swing problem when the crane is lifting heavy objects. Based on robust control theory, a double closed control system is de-rived for Gantry crane system to achieve the better stability. The double closed system based on robust control theory is stabilized through the parameters setting and simulation. The control system can make a quick response and guarantee the stability of the system when the length and weight change within a certain load requirements. At last, the control system can carry out the application requirements of anti-swing.