基于软测量技术的桥式起重机防摇控制方法研究

摘要

针对现有的桥式起重机防摇控制技术复杂、成本高而难以推广应用的问题,提出了一种易于实现的、基于软测量技术的防摇控制方法,指明了控制策略的应用范围,简化了起重机运行机构-吊钩系统的物理模型,建立了状态空间描述下二阶系统的数学模型,利用软测量技术估计吊钩偏摆角,采用状态反馈的方法对桥式起重机运行机构进行速度控制,同时抑制吊钩摆角.最后,在桥式起重机模型试验平台上对控制策略进行验证,得到了较好的防摇效果.%In view of the problem in the existing overhead crane such as complicated anti-sway control technology,high cost,and difficulties in promotion,the paper puts forward a feasible anti-sway control method based on soft measurement technologies and the application scope of the control strategy.The physical model of crane running mechanism-hook system is simplified,a mathematic model is developed for the second-order system described by state space,the soft measurement technology is used to estimate the hook deflection angle,and the state feedback method is used to control the speed of the running mechanism of the overhead crane and restrain the hook tilt angle.At last,the control strategy is verified on the model test platform of the overhead crane,showing excellent anti-sway effect.