吊车系统的输入整形防摆控制

本文针对传统吊车防摆闭环控制方法存在的控制器设计复杂、控制效果不理想、不易实现等问题，提出了一种经典控制理论与前馈输入整形技术相结合的控制技术。首先，对吊车系统进行建模并简化数学模型，采用经典控制理论设计吊车的伺服控制系统。其次，引入输入整形技术设计吊车系统的ZV输入整形器。最后，通过MATLAB仿真验证所提出控制技术的有效性。

Anti-swing Control of the Crane System Based on Input Shaping Technique

This paper proposes a controI technique based on classical control theory and feedforward input shaping technique for anti swing control of the crane system considering for the complexity, insufficient performance and laborious controller realization of the traditional close-loop control strategy. Firstly, basic mathematical model of the crane system is established, and then servo control system for the derived simplified model is designed adopting classical control theory. Secondly, input shaping technique is introduced to the servo control system and anti swing ZV input shaper is obtained. Finally, simulation in MATLAB environment validates the proposed control technique.