摘要
通过坐标变换将起重机吊重系统转换成标准型，以唯一测量的小车位置信息为输入，设计扩张状态观测器，得到标准型系统状态变量的估计值；对估计值进行坐标反变换，重构起重机吊重系统状态空间，获取全部系统状态变量。观测器的设计不依赖于起重机吊重系统模型。通过实验合理选择观测器参数和原点附近具有线性段的连续幂次函数，实验结果表明：各状态变量的误差收敛时间不超过0．2S；当误差收敛时，经过观测器重构的小车位置小车速度、吊重摆角一摆角速度相轨迹，几乎与原系统相轨迹完全重合。
It is difficult to directly measure the load＇s swing angle because of the flexible con nection between crane＇s trolley and load. The crane-load system can be transformed into standard type system through coordinate transform. The extended state observer （ESO） is designed when trolley＇s position information is input variable. And the trolley＇s position in formation is only variable that can be measured among all crane-load system＇s state varia- bles. The standard type system variables＇ estimated information can be obtained from the ESO. Crane-load system＇s state space can be reconstructed if standard type system varia bles＇ estimated information would be calculated through coordinate reverse transform. And then crane-load system＇s total state variables also can be obtained. ESO＇s design doesn＇l depend on crane-load system model. Experimental results show that the error＇s convergence time of every state variable is less than 0.5s,reconstructed phase trajectory of swing angle- angle＇s velocity on the load through ESO could nearly coincide with original system＇s phase trajectory when the estimation errors are convergent.
出处
《武警工程大学学报》
2013年第2期70-73,共4页
Journal of Engineering University of the Chinese People＇s Armed Police Force
基金
基金项目：国家自然科学基金资助项目（51005246）
关键词
扩张状态观测器
起重机吊重系统
状态空间重构
坐标变换
extended state observer
crane-load system
state space＇s reconstruction
coordi- nate transform
