【摘要】 为实现自动化码头起重机自动定位集装箱的目的,通过建立小车-集装箱的数学模型,根据数学模型搭建Simulink仿真模型,然后搭建Adams动力学仿真模型,并使用MATLAB-Adams联合仿真,最后在实验物理样机上验证方案。研究了双比例-积分-微分(proportional-integral-derivative,PID)控制器分别控制小车位置、重物摆角的小车-集装箱系统防摇控制方案。结果表明:双PID控制集装箱起重机自动定位跟踪良好,稳定时间短,允许较大的超额定位置运动。可见双PID防摇控制方法有实际应用在小车-集装箱防摇控制的理论与实验基础支持。更多还原

【Abstract】 In order to realize the cargos’ automatic positioning. Building a mathematical model of "car-cargo" system first. Then have a Simulink simulation model based on mathematical models. And building an Adams dynamics simulation model. Simulation with MATLAB-Adams. Experimental to Verification control scheme on the prototype finally. That was used to investigate dual-PID(proportional-integral-derivative) controller control car’s position and cargo’s sway angle. The results show that dual-PID has effect on positioning track. With short settling time. And have great redundancy to allow overrun. It is concluded that dual-PID controller has a basis of theory and experiment to use in life.更多还原