【摘要】 针对桥式起重机水平运动系统是一个非线性、变参数、强耦合、欠驱动的系统,采用自抗扰观测器进行定位和防摆控制,自抗扰观测器可以对系统的内部扰动和外部扰动进行观测,并加以补偿。仿真实验结果表明,系统具有良好的动态、静态特性和强的鲁棒性。更多还原

【Abstract】 Consdering that,the horizontal motion system of overhead traveling crane is a nonlinear,variable parameter, strong coupling and under-drive one,an auto-disturbance resistant controller(ADRC)is used to position the load and control load swing.The inner and outside disturbance can be observed and compensated by the auto-disturbance resistant controller (ADRC).The simulation result shows that the system has better dynamic and static characteristics and strong robustness.更多还原