Gain-Scheduled Control of a Tower Crane Considering Varying Load-Rope Length
Gain-Scheduled Control of a Tower Crane Considering Varying Load-Rope Length
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考虑不同负载绳长度的塔式起重机增益调度控制
DOI：
10.1299/jsmec.42.914
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
H. Nishimura
中科院分区：
文献类型：
--
作者：
K. Takagi;H. Nishimura
本文讨论了塔式结构上吊车在变重绳长情况下的控制问题。载荷的快速传递会引起载荷绳的摆动和柔性结构的振动。我们的目标是通过控制臂的扭矩来控制摆动和振动。当负载绳的长度变化时，由于负载绳的固有频率和装置对控制输入的增益变化，固定补偿器难以控制。针对负载绳长度设计了基于LMI的增益调度H∞控制器，并通过仿真和实验验证了控制器的有效性。
This paper discusses control of a crane mounted on a tower-like structure in case of varying load-rope length. A fast transfer of the load causes the sway of the load rope and the vibration of the flexible structure. Our object is to control both the sway and the vibration by control of torque to the boom. If the length of the load rope varies, it is difficult to control by the fixed compensator, because not only the natural frequency of the load rope but also gain of the plant to the control input vary. We design the gain-scheduled H∞ controller based on the LMI for the length of the load rope and verify the efficiency of the controller by simulaitons and experiments.