State feedback control of loads swing angle based on state estimation for overhead or gantry crane

摘要：

In order to resolve the problem that the loads swing angle and swing angle-velocity were hard to be measured directly, for overhead crane or gantry crane in engineering practice, the state observer was designed by using trolleys position information. The difference value between the state observers output and the trolley-load systems output was introduced and adjusted by the observers gain vector, then sent to the observers input terminal. The observers four poles were placed at the negative real axis on complex plane. The closed loop control system was designed with feedback form observers estimation information of state variables. The loads swing angel can be attenuated to zero in specification error and given time at target position. The antiswing control objective on loads swing angle was realized. Simulation results show that observer can precisely estimate loads swing angle and angles velocity information in 2s, loads swing angle is effectively controlled in 6s, and the whole system is designed reasonably and effectively.

关键词： overhead crane gantry crane trolley-load system state variables estimation swing angle control

作者: Bin Zhong Yan Zhao

作者单位: Equipment Transportation DepartmentEngineering College of Armed ForceXian, China Equipment Transportation Department Engineering College of Armed Force Xian, China

会议类型: 国际会议

会议名称: 2010 International Conference on Measurement and Control Engineering(2010年IEEE测量与控制工程国际会议 ICMCE2010)

会议地点: 成都

会议语种:英文

页码: 135-139

在线出版日期: 2010-11-16（万方平台首次上网日期，不代表论文的发表时间）