DESIGN AND SIMULATION ON STATE OBSERVER FOR CRANE-LOAD SYSTEM
In order to resolve the challenge that the loads swing angle and swing angle-velocity of overhead crane or gantry crane were hard to be measured directly in engineering practice, the state observer was designed by using trolleys position information, and estimate the loads swing angle and anglevelocity. 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. After the observers poles were placed on complex plane, the system can estimate the swing angle and swing angle-velocity stably and quickly. Simulation study shows that the method of obtaining loads swing angle information based on state estimation is practicable, and state observer can be available online in 2s, which has strong robust property: along with rising of the pole number, state observer can be adaptive more widely in the changing of load mass and rope length; however, estimation error will change roughly when the pole number is too big; observer is more sensitive to rope length than to load mass.
Crane-load system Loads swing angle State observer State estimate
YAN ZHAO JIAN-WEI CUI BIN ZHONG
Equipment & Transportation Department Engineering College of Chinese Armed Police Force Xian, China
国际会议
3rd International Conference on Mechanical and Electrical Technology(ICMET2011) (2011第三届机械与电气技术国际会议)
大连
英文
305-309
2011-08-26（万方平台首次上网日期，不代表论文的发表时间）