Passive Control of Overhead Cranes
Passive Control of Overhead Cranes
复制标题
桥式起重机的被动控制
DOI：
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发表时间：
1998
期刊：
影响因子：
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通讯作者：
T. Singh
中科院分区：
文献类型：
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作者：
H. Alli;T. Singh
本文的重点是设计最优被动控制器的休息到休息机动的柔性结构。被动控制器的参数是通过制定一个优化问题，以最小化的时间绝对误差的积分，控制约束。选择适当的输出，从而得到设备的被动输入-输出传递函数。首先说明的基准浮置振荡器的问题的设计技术。然后，这种技术被用来设计两种型号的桥式起重机的耗散控制器。在第一个模型中，一个起重机有一个电缆/质量的组合，被假定为一个刚性的链接;在第二个模型中，波动方程被用来表示动态的电缆。数值结果表明了该方法的有效性。
The focus of this paper is on the design of optimal passive controllers for rest-to-rest maneuvers of flexible structures. The parameters of the passive controller are determined by formulating an optimization problem to minimize the integral of the time absolute error, subject to control constraints. Appropriate outputs are selected, resulting in passive input-output transfer functions for the plant. The design technique is first illustrated on the benchmark floating oscillator problem. This technique is then used to design dissipative controllers for two models of overhead cranes. In the first model, a crane has a cable/mass combination that is assumed to be a rigid link; in the second model, the wave equation is used to represent the dynamics of the cable. Numerical results illustrate the effectiveness of the proposed technique.