【摘要】 桥式起重机在运输货物样式相同、运输路线固定的情况下具有较强的重复性,而实际运输过程中,由于货物堆放位置不完全重叠,运输堆放位置临近的货物时有固定的初始误差。针对桥式起重机重复性工作且有固定初始误差的情况,采用迭代学习控制方法研究桥式起重机位置跟踪问题。建立了桥式起重机的三维数学模型,设计了桥式起重机位置跟踪的迭代学习控制算法,证明了算法的收敛性。仿真结果表明,迭代学习控制可有效利用桥式起重机运行的重复信息,经过一定次数的迭代学习后,起重机位移输出曲线可以精确跟踪位移期望曲线,达到预期的运行速度。更多还原

【Abstract】 The bridge crane has strong repeatability in transport with same goods style and a fixed route. Because the goods stacking position is not exactly the same,fixed initial error is existed when transport adjacent cargo. Aiming at the condition of repeat working of bridge crane and fixed initial error is existed,the iterative learning control strategy is used to realize position tracking. A three-dimensional mathematical model of bridge crane is first established,and then the iterative learning control law is given. The convergence of the proposed iterative learning control law is analyzed. The simulation results show that the control algorithm can effectively utilize the repetitive information of bridge crane. After a certain time of iterative learning,the crane displacement output curve can track the displacement curve precisely and achieve the desired running speed.更多还原