桥式起重机消摆控制仿真研究

桥式起重机包含挠性机械环节，小车和桥的速度变化必然引起载荷摆动，起升运动加剧了摆动的复杂性。提出一种能有效消除载荷摆动控制算法，将最小最大优化方法引入控制器设计中，在系统参数变化范围内最小化最大残留振荡能量，得到最小最大时滞滤波器。该滤波器对起升运动引起的系统参数变化不敏感，有很强的鲁棒性，能很好消除载荷摆动。控制过程中不需要反馈信号，易于工程实现。

Study on Simulation for Eliminating Payload Oscillation of Overhead Cranes

An overhead crane contains a flexible mechanical structure, so the velocity variations of the traverse trolley and traveling bridge will incite the load oscillation, in addition the raising or lowering motion of the crane will further enhance the complexity of the oscillation. To eliminate the load oscillation of the overhead crane, a new algorithm, which introduces the mini-max optimization method to the controller design, and minimizes the maximum value of the residual vibration energy in the entire range of the uncertain parameters, is proposed, and with this algorithm a mini-max time delay filter controller is accomplished. Simulation results verify that the filter is robust and not sensitive to the variation of system parameters caused by raising and lowering motion, and in the control process no feedback signal is needed, therefore this filter is easy to engineering practice.