Reconstruct Cranes Trolley-load Systems State Space with Reduced Dimensional Observer Based on Trolleys Position and Velocity Information
In order to resolve the problem that the swing angle and swing angle velocity or the other system state variables are hard to be measured; the state variable space may be reconstructed by a reduced dimensional state observer with the measurable output if the trolley-load system is observable. The swing-angle, angle-velocity and driving force are estimated through the trolleys position and velocity information for the trolley-loads dynamic system driven by the direct-current motor. When the systems parameters are determinate, the observers pole placement is the key parameter affecting observation time. When the observers pole is closed to the imaginary axis, the observation time will promptly decrease because of the poles increase. When the observers pole is away from the imaginary axis, the observation time will very slowly decease because of the poles increase. In order to ensure the equal observation time for every state variable, the reduced dimensional state observers poles must be the equal observation time pole.
gantry crane overhead crane trolley-load system reduced dimensional observing state observer
Bin Zhong Junzhen Chen
Equipment & Transportation Department Engineering College of Chinese Armed Police Force Xian, China Fundamental Department Engineering College of Chinese Armed Police Force Xian, China
国际会议
成都
英文
224-228
2011-01-14（万方平台首次上网日期，不代表论文的发表时间）