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首页> 外文会议>7th Biennial Conference on Engineering Systems Design and Analysis 2004(ESDA 2004) vol.1: Advanced Energy Systems; Advanced Heat Transfer in Engineering Systems; ... >PERFORMANCE EVALUATION OF THE OPTIMAL CONTROL OF A GANTRY CRANE
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PERFORMANCE EVALUATION OF THE OPTIMAL CONTROL OF A GANTRY CRANE

机译：龙门起重机最优控制的性能评估

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摘要

For a gantry crane, optimal control of the crane motion requires that the speed of the cart be maximized, and the swing of the hanging payload be minimized. The problem lends itself naturally to optimal linear quadratic (LQ) controllers. This paper examines the performance of four different approaches to the design of an LQ controller, including two optimization approaches as based on: 1) minimal energy of cart and payload and 2) integrated absolute error of payload angle. Both simulation and experimental results are presented. A demonstration is also given as to how the results taken from laboratory scale gantry crane experiments must be treated with caution. Laboratory based studies have generally worked with systems where the moving cart mass is much larger than the suspended payload mass. In the case of industrial scale gantry cranes, the reverse can be true. This has implications with respective to the robustness of the controller. In the case where the cart mass is much greater than the payload mass, the effect of the payload on the cart is correctly neglected. However, there are stability implications if this is not the case. The implications with respect to the tuning of LQ controllers for this application are discussed.
机译：对于龙门起重机，对起重机运动的最佳控制要求最大化手推车的速度，并使悬挂的有效载荷的摆动最小化。该问题很自然地使其适用于最佳线性二次（LQ）控制器。本文研究了LQ控制器设计的四种不同方法的性能，其中包括两种基于以下因素的优化方法：1）最小的手推车和有效载荷能量，以及2）有效载荷角的积分绝对误差。给出了仿真和实验结果。还演示了如何谨慎处理实验室规模的龙门起重机实验的结果。基于实验室的研究通常与移动推车的质量比悬浮的有效载荷质量大得多的系统一起工作。对于工业规模的龙门起重机，情况可能相反。这与控制器的鲁棒性有关。在推车质量远大于有效载荷质量的情况下，正确地忽略了有效载荷对推车的影响。但是，如果不是这种情况，则会影响稳定性。讨论了针对此应用的LQ控制器调整的含义。

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