摘要
在代价函数中具有频率加权的LQ方法是一般LQ方法的推广,它比LQ方法能较好地抑制高频范围内的响应。本文介绍了采用频率加权方法设计的实验性桥式起重机数字控制系统,该系统在起重机突然起动或停止时,可以控制吊物的位置不产生严重的残留振荡。研究表明频率加权最优控制是有效的,系统成功的抑制了吊物的摆动。
The LQ method with frequncy-shaped weighting matrices in the quadratic cost funtional is the extension of LQ method. This method can better suppress the response in the high frequncy range than LQ method. In the paper a experimantal crane computer control system designed by using frequncy shaping method is described. The system can control the position of mass hanging from the crane without producing serious residual oscillations when the crane is suddenly moved or stopped. The researches show the effecitiveness of frequncy shaping method. Swing of the hanging mass is well suppressed.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
1991年第3期58-64,共7页
Journal of Beijing University of Aeronautics and Astronautics
关键词
数字控制
频域加权
最优二次型
optimal quadratic cost functional, frequency-shaped weighting, crane, digital control.
