|本期目录/Table of Contents|

[1]翟军勇,费树岷.集装箱桥吊防摇切换控制研究[J].电机与控制学报,2009,(06):933-936.
 ZHAI Jun-yong,FEI Shu-min.Anti-swing switching control for overhead containers[J].,2009,(06):933-936.
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集装箱桥吊防摇切换控制研究(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2009年06
页码:
933-936
栏目:
出版日期:
2009-12-25

文章信息/Info

Title:
Anti-swing switching control for overhead containers
作者:
翟军勇; 费树岷;
东南大学自动化学院;
Author(s):
ZHAI Jun-yong; FEI Shu-min
School of Automation; Southeast University; Nanjing 210096; China
关键词:
防摇 切换控制 欠驱动系统 集装箱 闭环控制系统
Keywords:
anti-swing switching control underactuated system container closed-loop control system
分类号:
TP273
DOI:
-
文献标志码:
A
摘要:
针对桥式吊车这类欠驱动系统,为提高小车迅速消除集装箱摆动的能力,提出一种基于切换的防摇控制算法。通过分析吊具摆角与小车运行加减速之间的关系,建立集装箱桥吊系统的数学模型。由摄像头和反光板组成的传感器将检测到的图像,经处理后得到吊具的角度。再将吊具的摆角信号引入到防摇控制中,从而构成闭环控制系统。根据吊具摆角大小给出小车速度切换指令来消除吊具的摆动。当小车在目标位置停止运动时,吊具的摆角范围为±0·01rad,满足系统设计的要求。计算机仿真和桥吊装置试验结果表明该算法的有效性。
Abstract:
In order to enhance the trolley’s capability of eliminating the swing of container,anti-swing switching control for overhead crane,which belonged to a kind of underactuated system,was presented.The mathematic model of trolley and load was established according to the mutual relationship between the swing angle of the load and the acceleration of the trolley.The sensor composed of the camera and reflectors detected the image to get the swing angle signal,which was introduced to compose a closed-loop control ...

参考文献/References:

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备注/Memo

备注/Memo:
国家自然科学重点基金(60835001);; 教育部博士点基金(20070286039,20070286040);; 江苏省教育厅自然科学基金(09kjd510009)
更新日期/Last Update: 2010-06-01