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针对欠驱动桥式吊车控制系统,设计了一个利用信息融合算法实现状态跟踪控制的ARM控制器。该控制器通过编码器和角度传感器采集吊车系统中的台车位置信息、吊绳长度信息及负载摆动角度信息,结合信息融合算法,能够计算出电机最佳输出力矩,使系统各项性能指标达到最优,并且考虑了输入饱和限制的问题。
For the under-driven overhead traveling crane control system, an ARM controller is designed to realize state tracking control by using information fusion algorithm. The controller collects trolley position information, sling length information and load swing angle information of the crane system through the encoder and angle sensor. Combined with the information fusion algorithm, the controller can calculate the optimal output torque of the motor and make the system performance index reach Optimal, and consider the issue of input saturation limits.