塔式起重机防摇摆控制系统研究

摘要

针对塔式起重机负载摆动幅度大、影响吊装工作效率的问题，使用MATLAB/Simulink软件搭建塔式起重机动力学仿真模型。分析了EI输入整形器（极不灵敏输入整形器）防摇摆的设计方法，并通过塔式起重机回转运动时重物摇摆幅度的对比研究，验证了采用EI输入整形方法抑制负载摆动的有效性。%Tower crane ’s dynamic simulation model was built using MATLAB/Simulink according to the prob-lems of large load swing and limited efficiency of the lifting operation. Then,it analyzes the design method of EI input shaper( Extra-Insensitive Input Shapers)in eliminating swing,and by makeng a comaparison of the simu-lation results of swing trajectory when doing heavy swing rotary motion,the effectiveness of using EI input shaping to restrain load swing is verified through the experiment.