论文总字数：17800字

摘 要

Abstract··························································Ⅲ

1. 概述·······················································1
   1. 桥式起重机简介··········································1
   2. 桥式起重机的分类及工作特性······························1
   3. 桥式起重机的发展概况····································2
   4. 桥式起重机的消摆控制····································2
   5. 桥式起重机消摆控制的背景和意义··························3
   6. 桥式起重机消摆控制研究现状······························4
2. 数学模型计算与仿真模型建立··································8
   1. 数学模型的建立··········································8
   2. 系统仿真模型的建立·····································13
   3. 系统模型的线性化·······································15
   4. 本章小结···············································16
3. 系统分析···················································18
   1. 稳定性分析·············································18
   2. 能控性和能观测性分析···································20
   3. 起重机系统状态反馈控制·································21
   4. 本章小结···············································25

第四章 总结·······················································26

• 1. 研究总结···············································26
  2. 未来展望···············································26

参考文献··························································28

致谢······························································30

摘要

本论文利用了部分饱和对于欠驱动吊车系统的非线性控制规律，通过换算起重机模型转换为目标（或实现等价地，所需的闭环系统），所提出的方法保证“软”小车开始通过整合顺利饱和功能分为控制律。更具体地，我们首先建立一个客观的系统，保证信号收敛和稳定的性能，然后根据该结构客观动力学，部分饱和控制律可以直接通过解决一个偏微分方程得出方程，而不用执行任何部分反馈线性来操作原有的起重机模型。收敛性和的目标（即闭环）系统的稳定性能是保证与李雅普诺夫方法和LaSalle不变定理。为了验证所建议的实用性能方法，我们利用实现硬件实验表明，新的方法实现了很好的性能降低调控力度。

关键词：桥式起重机；部分饱和非线性控制；动力学方程。

Eliminate Swing Control of Bridge Crane

Based on State Feedback

Abstract

The present paper exploits a partially saturated nonlinear control law for underactuated crane systems, which is achieved by converting the crane model into an objective (or equivalently, desired closed-loop) system. The proposed method guarantees “soft” trolley start by incorporating a smooth saturated function into the control law. More specifically, we first establish an objective system with guaranteed signal convergence and stability performance; then based on the structure of the objective dynamics, a partially saturated control law is derived straightforwardly by solving one partial differential equation, without performing any partial feedback linearization operations on the original crane model. The convergence and stability performance of the objective (i.e., closed-loop) system is guaranteed with Lyapunov techniques and LaSalle’s invariance theorem. To validate the practical performance of the proposed method, we implement hardware experiments to illustrate that the new method achieves superior performance with reduced control efforts.

Key words: Overhead Cranes; Partially Saturated Nonlinear Controller; objective dynamics formula.

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