针对在起重机系统中由旋臂旋转运动产生的二维荷载摆角问题提出一种只基于旋臂旋转运动的控制方式来同时实现旋臂的位置控制和荷载的消摆控制。首先，采用干扰观测器导出起重机的部分线性模型。该模型对于关节摩擦，荷载质量等参数变化具有鲁棒性。其次，基于该模型设计一个非线性控制器，并应用李雅普诺夫稳定性定理确保控制系统的稳定性。最后，比较仿真和实验结果验证所提方法的有效性。通过使用此法可以实现一种无需控制旋臂起伏运动的执行机构的起重机，从而大大地简化其结构和降低其制造成本。%Aiming at the problem of two-dimensional load sway caused by horizontal boom motions in rotary crane systems,a control method using only horizontal boom motion to achieve boom positioning control and load sway suppression control simultaneously was proposed.Firstly,a partially linearized dynamic model of a rotary crane by using a disturbance observer was derived.The model possessed robustness with respect to varying parameters,such as,joint friction and load mass.Next,a nonlinear controller on the basis of the model was designed,and the stability of the control system was ensured via Lyapunov stability theory.Finally,comparing simulations resulsts and test ones demonstrated the effectiveness of the proposed method.A kind of rotary crane without an actuator for vertical boom motion could be achieved by using the proposed method,therefore,the structure of cranes could be simplified and their production cost could be reduced.
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