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为分析桥式吊车系统的特性,验证各种吊车控制方法的稳定性并考察其实际控制效果,根据桥式吊车的工作原理与组成结构,设计并搭建了一个三维桥式吊车实验系统。该系统主要由机械主体、驱动装置、测量装置和控制系统四部分组成,能够较为真实地反映实际吊车系统的动态特性和运行过程。其中的控制器部分基于Matlab/Simulink平台,可以方便地进行各种控制策略的实验测试。将两种常见的吊车控制策略应用于该实验系统,获得的实验曲线与理论分析的结果完全一致,有效地验证了该实验系统的准确性。该实验系统能较为真实地反映三维桥式吊车非线性、强耦合、欠驱动等特性,可以准确描述桥式吊车系统的实际运行情况,因此它为桥式吊车系统性能分析、吊车控制策略的实现与调整提供了非常可靠的测试环境。
In order to analyze the characteristics of the bridge crane system, verify the stability of various crane control methods and examine its actual control effect, a three-dimensional bridge crane experimental system is designed and constructed according to the working principle and composition of the bridge crane. The system mainly consists of four parts: the main body of the machine, the driving device, the measuring device and the control system, which can more truly reflect the dynamic characteristics and running process of the actual crane system. One part of the controller based on Matlab / Simulink platform can be easily carried out a variety of experimental control strategy tests. The two common crane control strategies are applied to the experimental system, and the experimental curves obtained are completely consistent with the theoretical analysis results, which effectively verify the accuracy of the experimental system. The experimental system can more truly reflect the characteristics of the three-dimensional bridge crane such as non-linearity, strong coupling and under-drive, and can accurately describe the actual operation of the bridge-type crane system. Therefore, it provides an analysis of the performance of the bridge crane system and the realization of the crane control strategy And adjust to provide a very reliable test environment.