基于输入整形的回转式起重机吊摆系统防摆控制器的设计与分析

摘要

针对回转式起重机吊摆系统的摆动特征,设计了适合吊摆系统的ZVD输入整形防摆控制器,并在MATLAB/Simulink环境中对基于输入整形防摆控制器的吊摆系统模型进行了回转及俯仰运动的仿真分析.通过整形前和整形后系统在相应运动情况下吊重摆动幅度的对比,验证了输入整形防摆控制器在抑制海上集成转载平台起重机吊重摆动方面的有效性.%According to the swing characteristics of the hanging pendulum system of the rotary cranes, this paper designs the ZVD input shaping anti-sway controller for the hanging pendulum system and simulates the slewing and luffing movement of the pendulum system in the MATLAB / Simulink. By contrast with the swing amplitude of crane load in the corresponding movement around the shaping it is verified that the input shaping anti-swing controller is suitable for offshore integrated transshipment platform in the suppression of the load swing of the cranes.