摘要
针对超大型起重机械作业安全性、平稳性、智能化问题,提出一种重复路径运动控制算法;首先介绍起重机通用运动机构模型,介绍轨迹点获取方法,然后建立臂架运动电液控制模型,提出一种基于模型及PID的轨迹跟踪算法,最后对算法进行仿真验证;仿真结果表明,所提方法跟踪效果好,位置、速度控制稳定性好,收敛快,且运动过程中控制电流变化较小;与纯PID算法相比,文中方法速度控制更平稳,可操作性更强。
a tracking method was proposed in this paper for mprovmg the satety,stability and intelligence of large crane.Kinematics model of crane was built firstly, Electro--hydraulic Control model for boombrace movement was built secondly, and then a tracking method based on model and PID was proposed thirdly, the simulation result was given finally. It shows that the tracking method was good and feasible, and better than pure PID method.
出处
《计算机测量与控制》
北大核心
2013年第2期377-379,共3页
Computer Measurement &Control
