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针对由人工操作、通过变频器和三相异步电动机驱动的桥式起重机,设计了以司机挂入的运行机构挡位所要求的速度作为系统输入,以小车实际速度和吊钩摆角作为系统输出的防摇控制方案。大、小车运行位置信息设置传感器进行检测,吊钩摆角、角速度通过观测器估计。在系统的状态空间描述下,给出了防摇控制策略的确定方法。仿真结果表明:控制方案对桥式起重机具有显著的防摇效果。
Aiming at the overhead crane driven by frequency converter and three-phase induction motor, the speed required by the gear of the running gear which the driver hangs in is designed as the system input, the actual speed of the trolley and the swing angle of the hook are taken as the system output Anti-shake control program. Large, trolley running position information set sensor for detection, hook swing angle, angular velocity estimated by the observer. Under the state space description of the system, the method of determining the anti-sway control strategy is given. The simulation results show that the control scheme has significant anti-rolling effect on overhead traveling crane.