摘要
Zero placement method in the frequency domain is utilized to design robust multi-hump EI optimal arbitrary time-delay filter （OATF） by placing two or more filter zeros near the system poles. A total insensitive OATF can be also achieved if the problem of insensitivity to damping errors is considered. This design strategy is easier to derive and implement. Applications in the anti-swing control of overhead cranes verify the fine performance of this strategy. A better suppression of the load vibrations is obtained using the proposed new OATF, which is more robust to the variation of the cable length.
Zero placement method in the frequency domain is utilized to design robust multi-hump EI optimal arbitrary time-delay filter （OATF） by placing two or more filter zeros near the system poles. A total insensitive OATF can be also achieved if the problem of insensitivity to damping errors is considered. This design strategy is easier to derive and implement. Applications in the anti-swing control of overhead cranes verify the fine performance of this strategy. A better suppression of the load vibrations is obtained using the proposed new OATF, which is more robust to the variation of the cable length.
基金
This project is supported by National Hi-tech Research and Development Program of China (863 Program, No. 2002AA412010).
