桥架起重机防晃控制非线性系统建模与研究

Modeling and Research on Nonlinear System of Overhead Crane Anti-sway Control

摘要:

随着世界贸易的发展，桥架起重机发挥着越来越关键的作用；与此同时，桥架起重机防晃技术也日益受到关注。为分析桥架起重机系统的特性，为理论上验证与研究各种吊车控制方法的稳定性和效果提供参考，该模型在建立过程中考虑了电机对桥架起重机非线性系统的影响，对电机、小车和吊具与负载部分分别进行了分析、研究、建模与仿真，最终建立起桥架起重机防晃控制非线性系统完整的物理和数学模型，实现了对桥架起重机系统运动特性的完整描述。并用Matlab对电机、小车和吊具及负载部分，以及桥架起重机非线性系统的开环与闭环状态分别进行仿真，仿真结果验证了电机、小车、吊具及负载部分的特性，证明了模型的正确性，为研究桥架起重机防晃控制非线性系统提供了理论参考。

Abstract:

With the development of world trade, overhead crane plays an important role increasingly. At the same time, overhead crane anti-sway technology is also a growing concern. In order to analyze the characteristics of the overhead crane system and provide a reference for theoretically verifying and studying the stability and effect of various control methods, the model considers the influence of the motor on the nonlinear system of the overhead crane during the establishment. Besides, the motor, trolley and the load part were analyzed, studied, modeled and simulated respectively. As a result, the complete physical and mathematical models of the overhead crane anti-sway control nonlinear system were established, and a complete description of the motion characteristics of overhead crane system was realized. The Matlab is used to simulate the motor, trolley and load part, as well as the open-loop and closed-loop of the nonlinear system of the overhead crane. The simulation results verify the characteristics of the motor, trolley, and load part, and prove the correctness of the model, providing a theoretical reference for studying the nonlinear system of overhead crane anti-sway control.