【摘要】 目的通过建立旋转起重机直线搬送方式的二维数学模型,减少变量数量,实现最优控制输入信号的快速计算,以达到对旋转起重机进行实时控制的目的.方法利用拉格郎日方程推导旋转起重机直线搬送的二维数学模型,计算模型参数和二维-三维变换公式,利用DFP法进行最优控制量的计算,最终得到实际控制输入,并通过实验结果与仿真结果的比较验证模型的精确性.结果使用二维模型得到的最优控制量与使用三维模型时得到的结果完全相同,但计算时间缩减约99%.结论使用旋转起重机直线搬送方式,能快速得到最优控制量,从而实现对旋转起重机的实时控制,是一种十分有效的运行方式.更多还原

【Abstract】 A straight transfer transformation(STT)model for a rotary crane was built in order to reduce the number of variables in the model,calculate the optimal input control voltages quickly,and control the rotary crane concurrently.Lagrange Equation was used to build STT model in 2-D space.The parameters of the model were calculated and the varying formula from 2-D space to 3-D space was given out.Using DFP method,the optimal control input was calculated,and the actual control voltages were received.The validity of STT model was demonstrated by comparing the experimental results with the simulation ones.The optimal control inputs getting from STT model were the same with those from 3-D model,but the calculating time was reduced by 99%.Using STT model,the optimal control inputs can be gotten rapidly,and it is possible to control a rotary crane concurrently.As a result,STT method is an effective transfer transformation for a rotary crane.更多还原