提升起重机的时滞滤波消摆控制

摘要

In this paper, time-delay filter technique is applied to the anti-sway control of cranes with load and is shown to significantly eliminate load residual sway. As a feedforward unit, time-delay filter does not require the measurement of swing angel of the load. It can eliminate load residual swing by merely shaping the acceleration control signal. It is a simple and easy method to be implemented in the microcomputer.%将一种新的能抑制系统残留振荡的时滞滤波器技术应用到起重机的消摆控制中，有效地消除了载荷的摆动.时滞滤波器在系统中作为一前馈型控制器，不需要测量载荷的摆角，仅通过对任意形式的控制信号进行整形来消除残留振荡，应用简单.仿真结果表明，时滞滤波器能够有效地消除载荷摆动，对模型参数的变化有一定的鲁棒性.