| 回转塔式起重机动力学模型及时滞控制研究 |
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| 引用本文： | 董明晓,刘伟民.回转塔式起重机动力学模型及时滞控制研究[J].应用基础与工程科学学报,2005(Z1). |
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| 作者姓名： | 董明晓 刘伟民 |
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| 作者单位： | 山东建筑工程学院机械电子工程系 西安交通大学机械工程学院 山东济南 西安交通大学机械工程学院 陕西西安 |
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| 摘 要： | 回转塔式起重机是包含3个刚性模态的柔性系统,3个刚体的运动使载荷产生空间摆运动,变幅和回转运动影响摆动的幅值,起升运动改变了摆动的频率和阻尼.本文提出通过控制一个柔性模态来消除载荷的摆动,另一个柔性模态由机械结构来消除的控制方案,并且设计最优时滞控制器消除载荷的残留振荡,使摆动能量最小,仿真结果证明了这一控制策略的有效性.
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| 关 键 词： | 起重机 时滞控制 摆动 优化 |
Research on Modeling and Time-delay Control of Rotary Tower Cranes |
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| DONG Mingxiao.Research on Modeling and Time-delay Control of Rotary Tower Cranes[J].Journal of Basic Science and Engineering,2005(Z1). |
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| Authors: | DONG Mingxiao |
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| Institution: | DONG Mingxiao~ |
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| Abstract: | A rotary tower crane is a flexible system containing three rigid modes and the motions of the rigid structures induce the spatial pendulum-like motion of payloads.The motions of transferring and slewing affect the amplitude of the sway, while motion of raising or lowering changes the frequency and damping of the flexible mode.To eliminate the sway,we present a control scheme,which control one flexible mode,while another is cancelled by a mechanical structure.And an optimal time delay controller is designed to depress the residual vibration,which minimizes the maximum value of the residual energy.The simulation results verify the validity of the control scheme. |
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| Keywords: | crane time-delay control vibration optimization |
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