基于控制的弹性龙门起重机振动阻尼

I. Golovin, S. Palis
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引用次数: 4

摘要

本文研究了基于控制的龙门起重机小车运动方向弹性摆动减小问题。由于台车的加速度往往是这些振动的原因,他们可以利用在一个适当的阻尼策略。应用有限元法建立了弹性起重机的动力学模型。这种方法产生了一个高阶状态空间模型,在控制器设计过程中应该减少它。为了设计一种能够同时抑制起重机结构弹性振动和随绳长变化的有效载荷摆动的控制器,采用了鲁棒控制方法。
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Control-based damping of elastic gantry crane vibrations
In this article control-based reduction of gantry crane elastic swinging in the trolley travel direction is concerned. As acceleration forces of the trolley are often the reason of these vibrations, they can be utilized in an appropriate damping strategy. For an elastic crane a dynamic model is derived applying the finite element method (FEM). This approach results in a high order state-space model, which should be reduced for the controller design procedure. In order to design a controller, which can be applied for simultaneous damping of elastic vibrations of crane construction and payload sway with varying rope length a robust control approach has been applied.
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