Optimal Control of Rotary Crane Using the Straight Transfer Transformation Method to Eliminate Residual Vibration
Optimal Control of Rotary Crane Using the Straight Transfer Transformation Method to Eliminate Residual Vibration
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DOI：
10.9746/sicetr1965.39.817
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发表时间：
2003-09
期刊：
影响因子：
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通讯作者：
Ying Shen;K. Terashima;K. Yano
中科院分区：
文献类型：
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作者：
Ying Shen;K. Terashima;K. Yano
本文提出了一种基于回转式起重机载荷位置的模型，并通过实验进行了验证。具体地，它提供了一种使用直传递变换（STT）模型来控制旋转起重机的摇摆的方法。建立了STT模型，并对其参数进行了几何推导。考虑钢丝绳长度的变化，采用Davidon-Fletcher-Powell（DFP）优化方法求解了旋转起重机减小残余摆度的最优控制问题。仿真和实验结果表明，采用STT模型的控制方法可以有效地消除离心力的影响。
This paper presents a model based on the load position of a rotary crane, validated by experimental results. Specifically, it provides a method for controlling the sway of a rotary crane using a straight transfer transformation (STT) model. The STT model was built and its parameters were geometrically derived. Taking into account variations in rope length, the optimal control of a rotary crane for reduction of residual sway was solved using the Davidon-Fletcher-Powell (DFP) optimization method. The proposed control method using the STT model was demonstrated to be effective in eliminating the influence of centrifugal force through simulation and experiments.