一种新型的桥式起重机位置补偿消摆控制策略

为了抑制起重机的载荷摆动，提出了一种新型位置补偿消摆控制策略，通过载荷摆角计算载荷相对于小车的水平位置偏差，并将这一偏差乘以自适应反馈增益，修改参考指令后使系统获得合理的阻尼，从而有效地抑制了载荷的摆动，计算机仿真和试验结果表明，这一控制策略将瞬时摆动角度降到60％，可在半个摆动周期内有效抑制残留摆动，并使残留摆动幅值降到20％，由于反馈增益随系统参数的变化而变化，使控制策略对起升运动引起的参数变化具有较强的鲁棒性，因此对噪声不敏感，且在工程中易于实现。

New Anti-Swing Control Scheme Based on Position Compensation for Overhead Cranes

To reduce payload swing of overhead crane systems, a new anti-swing control scheme based on position compensation is proposed. The horizontal position deviation of the payload to the trolley evaluated from the payload oscillation angle is multiplied by the self-adaptive feedback gain to modify the reference input, thus a reasonable damping is exerted on the system to effectively suppress the swing. Simulated and experimental results show that the control technique enables to reduce the maximum amplitude of transient swing angle to 60%, and suppress the residual vibration to 20% during one half oscillation period. Since the feedback gain varies with the system parameters, the proposed control scheme is robust to the parameter variations caused by raising or lowering motion, and the control technique is easy to implement practically due to the insensitivity to noise.