Anti-swing Design of an Overhead Crane based on Optimal Preview Control
作者单位：Academy of electrical engineering and Information EngineeringLanzhou University of Technology High-voltage Key Laboratory of Fujian ProvinceXiamen University of Technology
会议名称：《第40届中国控制会议》
会议日期：2021年
关 键 词：Overhead cranes Placement tracking Swing angle suppression Preview control Robustness
摘 要：Rapid positioning and swing angle suppression are very important to the working efficiency and safety of the cranes,a novel anti-swing control strategy is proposed based on the preview ***,a control-oriented mathematical model is established for the controller ***,an error system is constructed to transform the tracking problem into a regulation *** order to integrate the future known information of the system,an extended error system is constructed and the preview controller is designed using linear quadratic regulator（LQR） *** obtained control law includes the feedforward compensation term of the future information,which improves the dynamic performance of the ***,the computer simulation results show that the preview control system has obvious advantages over LQR control in overshoot,swing angle and control quantity,and the system also has certain robustness.