【摘要】 基于残留振荡能量最小的优化思想,在系统参数变化范围内设计鲁棒时滞滤波器。滤波器在柔性系统极点附近配置三重零点,使其对系统参数误差不敏感,具有很强的鲁棒性。将这一控制技术用于起重机的消摆控制系统中,可以有效抑制载荷的残留摆动。更多还原

【Abstract】 Based on the optimization idea to minimize the maximum value of residual vibration energy over the entire range of parameter variation,a robust time-delayed filter was designed.Three pair zeroes of the filter were set near the location of a pair poles of the system,thus the filter is robust to the errors of system parameters.The control technique is applied in anti-swing control systems of cranes to suppress efficiently the residual oscillations of the payload.更多还原