桥式起重机的二自由度内模防摆控制研究Research of Two-Degree-of-Freedom IMC Anti-swing Control for Bridge Crane
王小静,陈志梅,邵雪卷
摘要(Abstract)：
提出一种内模二自由度的控制方法,将桥式起重机的定位防摆控制转化为对定位、绳长控制系统的伺服跟踪,并利用起重机模型的强耦合性保持摆角稳定。根据内模控制理论设计二自由度控制器将系统的抗干扰性和跟随特性分开进行控制,增强了系统的鲁棒性。使得起重机小车和吊绳快速准确到达期望位置的同时抑制负载摆动,理论分析和仿真实验证明了该方法的可行性。
关键词(KeyWords)： 桥式起重机;耦合性;防摆控制;内模控制;二自由度控制
基金项目(Foundation): 山西省自然科学基金(2014011020-2,2014011020-1)
作者(Author): 王小静,陈志梅,邵雪卷
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