二级摆型吊车系统动态及基于无源的控制

吊车系统由于吊钩质量的存在而呈现二级摆特性.利用拉格朗日力学原理建立了二级摆型吊车系统的动态模型,分析了系统具有的特性如无泺性和固有频率,提出了一种基于无源的控制方法并证明了系统的稳定性.仿真结果验证了二级摆型吊车系统的复杂性和提出控制方案的有效性,并分析了系统参数对系统性能的影响.

Double-Pendulum-Type Crane Dynamics and Passivity Based Control

The crane exhibits double-pendulum-type dynamics for a large-mass hook. The nonlinear dynamic model of a double-pendulum-type crane was derived with Lagrangian method. Several properties such as its passivity and its two eigenfrequencies were analyzed. A passivity based control algorithm was proposed for the double-pendulum-type crane and system stabilization was analyzed. Simulation results illustrate the complexity of the double-pendulum-type crane and the validity of the proposed control algorithm and some parameters' effects on system performance is analyzed.