基于部分解耦與模糊控制的變繩長三維吊車系統(tǒng)防擺與定位控制研究.pdf

1、河北工業(yè)大學(xué)碩士學(xué)位論文基于部分解耦與模糊控制的變繩長三維吊車系統(tǒng)防擺與定位控制研究姓名：呂志申請學(xué)位級別：碩士專業(yè)：機械工程指導(dǎo)教師：戴士杰201012基于部分解耦與模糊控制的變繩長三維吊車系統(tǒng)防擺與定位控制研究iiSTUDYSTUDYSTUDYSTUDYOFOFOFOFPRECISEPRECISEPRECISEPRECISEPOSITIONINGPOSITIONINGPOSITIONINGPOSITIONINGANTISWINGAN

2、TISWINGANTISWINGANTISWINGFFFFTHETHETHETHEVARYINGVARYINGVARYINGVARYINGROPEROPEROPEROPELENGTHLENGTHLENGTHLENGTHININININ3D3D3D3DCRANECRANECRANECRANEBASEBASEBASEBASEONONONONDECOUPINGDECOUPINGDECOUPINGDECOUPINGFUZZYFUZZYFUZZY

3、FUZZYCONTROLCONTROLCONTROLCONTROLABSTRACTABSTRACTABSTRACTABSTRACTTheproblemofloadSwingisinevitableinrealfastmotionintheCranecablecarsystem.Cranecablecarsystemislinkedwithit’sloadbyropeHoweverwiththeproceedingofloadmoving

4、actedbycranesystemitwillpreduceroundtripswingduetoduetothecarcartspeedsupslowsdown.Inthecranesysytemthereisaweaklydampedsystemwhichcompositedbyropegrabloadsoitwilltakealongtimetoreducetheloadswing.Inrealityloadgenerallyr

5、equireaccuracypositioningsotheloadswingisusuallyoperatedbyanexperiencedteacherappropriateslowcranesystemsrunningspeedwaituntilloadswingattenuationtocertaindegree.Thisnotonlyconducivetotheimprovementofproductivitybutcause

6、accidentsfteacherscarelessnesssometimes.Indertorealizethepurposeoftoimprovethesecurityofthesystemcraneswkingefficiencyachieveeasily.Itisneedtodesignthereasonablecontrolstrategytocompleteitsautomaticoperation.thepaperissu

7、pptedbytianjincraneequipmentCo.LTDstudiedinthecranesystemdrivingacteristicswhichisincentiveinsufficientowethenonlinearvariablecdlength.Intheprocessofbuilingcodinatesystemtothevariableropelengthcable3dcranesystemofabridge

8、cranegoalvariableisselcetedasthevariableofthecodinatesystemthatischoosingthegrabbingbucketsofcranesystemasthevariableofthecodinatesystem.BasedonLagrangeequationsadynamicmodelisderivedwhichthevariableofmodelisnotonlylinke

9、dwiththevariableofcontrolbutthechangingofgrabbingbuckets’placecausedbycranesystemisconsidered.BasedonthestrongmathematicaabilityofmatlabtraditionalmethodtobulitDynamicmodelingofasystemisreplacedwhichnotonlyshtenedthetime