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吊车系统由于吊钩质量的存在而呈现二级摆特性。利用拉格朗日力学原理建立了二级摆型吊车系统的动态模型,分析了系统具有的特性如无源性和固有频率,提出了一种基于无源的控制方法并证明了系统的稳定性。仿真结果验证了二级摆型吊车系统的复杂性和提出控制方案的有效性,并分析了系统参数对系统性能的影响。
The crane system presents a two-stage pendulum behavior due to the quality of the hook. The dynamic model of a two-stage pendulum crane system is established by using the principle of Lagrange mechanics. The characteristics of the system such as passive and natural frequencies are analyzed. A passive control method is proposed and the stability of the system is proved . The simulation results verify the complexity of the two-stage pendulum crane system and propose the effectiveness of the control scheme, and analyze the influence of the system parameters on the system performance.