桥式起重机精确定位及防摆控制器设计

Overhead crane's Accurately Fixing Position and Anti-sway Controller's Design [HS)]

摘要:

以桥式起重机这一被控对象的控制问题作为出发点,详细阐述了其建模方法,讨论了其最优控制策略;并针对设计过程中出现的LQ加权矩阵Q的选取难题给出了一种解析解和证明,同时运用这一结论计算出了实际问题中的加权矩阵Q,从而求得最优的状态反馈矩阵K;通过计算机仿真,当控制算法作用于被控对象时,系统能够获得满意的控制性能;同时也针对桥式起重机试验装置开展了一系列调试试验,最优状态反馈控制器通过四轴运动控制板卡得以实现;在试验中,试验装置其大小车都能够准确停车到位,并消除运动过程中的吊钩游摆;试验结果说明了防摆控制器设计方案是正确和有效的。

Abstract:

The paper described in detail its mathematical modeling method and optimal control tactics for solving an overhead crane’s control problem, and gave an analytical solution and its proof for a selection of the weighting matrix Q appearing in the LQ design process. At last applied the conclusion to calculate the weighting matrix Q in the practical problem and to obtain optimal state feedback matrix K. The simulation results showed that the system could obtain a satisfactory control performance when the control algorithm acted on the controlled object. And carried out a series of commissioning tests on a crane test device. The optimal state feedback controller could be realized through a four-axis motion control card. In the tests, the test device’s big cart and small cart could all achieve to fix crane’s position accurately and to eliminate pendulum of hook. The experimental results indicated that the anti-sway controller’s design was correct and effective.