基于迭代学习控制的桥式起重机定位及防摆

摘要

针对桥式起重机在小车运行时引起负载摆动,影响工作效率、易引发事故和重复运行时的规律优化控制问题,提出利用迭代学习控制来对桥式起重机进行定位及防摆控制.用拉格朗日(Lagrange)方程建立桥式起重机的数学模型,对桥式起重机进行定位防摆控制仿真.结果表明,迭代学习控制可以利用桥式起重机重复运行的特性来对其进行高精度跟踪,同时有效地抑制负载摆角.%In the trolley traveling,load swing may influence work efficiency and cause accidents easily,losing efficacy of optimal control law of a bridge crane.Iterative learning control was put forward to research the position and anti-swing controls of bridge crane.The mathematical model of bridge crane was built with Lagrange equation,positioning antiswing simulation for bridge crane were carried out.The results show that the iterative learning control can implement highly accurate tracking and effectively restrain the swing angle by using the character of repetitive motion of bridge crane.