Container Cranes Load Ant-swings State Feedback Force Control System Based on State Reconstruction
In order to prevent containers swing for gantry crane on rail at objective position and on time expected, the trolley-container systems dynamic equation was established in the range of engineering practicability and the trolleys driving force was controlled, then the state parameters were controlled by full-state feedback control. Because the swing angle and swing angle-velocity will be hard to measure, the state observer was designed and estimated the other parameters and the parameters were reconstructed through the only trolleys position information. The adjusting parameter equation of feedback controller and the gain parameter equation of state observer were derived with analysis way to the similar 2nd order system. Simulation results show that the state observers errors of reconstructed parameters can be eliminated on 0.6s, and the observing process is faster than the adjusting process, and the state feedback control is feasible, and the swing angle and the dynamic characteristic of the trolleys position and the other parameters are expected. So, the design aim of container anti-swing control is obtained.
gantry crane overhead crane anti-swing force control state observer state feedback control
Bin Zhong
Equipment Transportation Department Engineering College of Chinese Armed Police Force Xian, China
国际会议
成都
英文
1664-1668
2010-12-17（万方平台首次上网日期，不代表论文的发表时间）