An Anti-sway Controllers Design of the Overhead Crane

摘要：

This paper detailedly illustrates how to design an anti-sway controller of overhead crane for eliminating pendulum of hook-headed. First of all the paper uses Lagrange Equation in analytical mechanics to obtain a mathematical model of crane motion system in three dimensional space. Then the paper advances a new control method and designs an anti-disturbance tracking controller based on servo-compensator and stabilization compensator for eliminating pendulum of hook-headed and accurately fixing position. In general, it is difficult to design an appropriate control law because of the crane motion systems nonlinearity and strong coupling. However, the control method the paper put forward is simple and effective, and ensures the transient state performance of closed-loop system preferable and stable. The paper will introduce the design steps of anti-sway controller of overhead crane and give a satisfying simulation result, which are new and original in this paper.

关键词： Servo-compensator Stabilization compensator Lagrange Equation Anti-sway controller

作者: Bin YANG Lin MA

作者单位: The Engineering and Technical College of Chengdu University of Technology, LeShan 614007,Sichuan, P. WuGang cold rolled silicon sheets mill, Wuhan 430080, Hubei, P. R. China

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Materials Processing(2011年机电一体化与材料加工国际会议 ICMMP)

会议地点: 广州

会议语种:英文

页码: 1868-1871

在线出版日期: 2011-11-18（万方平台首次上网日期，不代表论文的发表时间）