桥式起重机抗扰动跟踪控制器的设计

摘要

桥式起重机作为一种现代搬运机械,广泛应用于现代车间、仓库、港口码头装卸等国民经济的各个领域,然而要对桥式起重机的吊物位置和吊物的摆幅进行精确控制是相当困难的.提出并设计了一种基于伺服补偿器和镇定补偿器的抗扰动跟踪控制器,实现了桥式起重机的精确定位和消除吊物的游摆.仿真和试验结果表明,这种抗扰动跟踪控制器完全能够满足桥式起重机安全地执行装卸任务,实现无人职守的自动化操作.%Overhead crane as a modern transportation machinery is widely used in modern workshop,storehouse, portdock and the various branches of the national economy. However,it is difficult to effectively eliminate pendulum and accurately fix position of crab. An anti-disturbance tracking controller based on servo-com pensator and stabilization compensator for eliminating pendulum and accurately fixing position was put forward and designed. Simulation and experiment results show that the anti-disturbance tracking controller can meet overhead crane to safely accomplish hoisting work, and can realize automation and unmanned operation.