通过分析起重机升降运动系统各组成部分的关联关系,建立了起重机升降运动系统教学模型,从而将电动机的运动状态和负载的运动状态有效地统一起来；以该模型为基础,将负载运动位置作为控制变量,采用自适应Backstepping控制策略设计了一种起重机升降运动系统负载位置控制器.仿真结果表明,该控制器具有较快的响应速度和较小的跟踪误差,能够有效抑制负载突变和参数摄动的影响,具有良好的鲁棒性.%Relationship of all parts of crane hoisting system was analyzed and mathematic model of the system was established, so as to effectively unify moving states of motor and loads of the system. A controller of load position of crane hoisting system based on adaptive Backstepping strategy was designed on the basis of the model, which takes load position as a control variable. The simulation result showed that the controller not only has faster responding speed and smaller tracking error, but also restrains influence of load wave and parameter perturbation effectively with good robustness.
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