移动高架吊车系统lqi控制器设计.pdf

摘 要 移动高架吊车被广泛应用于社会各项生产中， 具有效率高、能适应施工的不同需要、 节省劳动力、可以载荷行走就位、可靠性高等优点，但机体庞大、对安全要求高、控制 系统复杂束缚了吊车的发展， 工业生产的安全性和可靠性对移动高架吊车的控制系统的 性能提出了较高的要求。 本论文针对高架移动吊车的控制系统进行了研究。 通过建立移动高架吊车的数学模 型和 LQI 控制器的设计， 对吊车的移动， 以及载重物的摆角进行了控制， 利用 MATLAB 设计其线性二次积分控制器，并且对吊车的控制系统进行了进一步的评估。 论文对国内外吊车控制系统的发展进行了简单概括， 阐述了移动高架吊车数学模型 的建立过程，介绍了 LQI 线性二次项控制的主要内容，并通过 LQI 多变量控制，对移 动高架吊车的位移和载重物的摆角进行了控制。 关键词： 移动高架吊车；传递函数； LQI 控制器 Abstract The mobile elevated crane is widely used in various social productions,it has high efficiency,can able to adapt to the different needs of the construction,labor-saving,can load walking in place,and has high reliability.But some shortcomings bound its developing such as its huge body,high requirements on safety and the complexity of the control system.Industrial production put forward higher demand to security and reliability. In this thesis,control systems for overhead traveling cranes.through the establishment of a mathematical model of elevated crane and LQI controller design,to moving crane and the swing angle of the load material control.Using MATLAB design its liner quadratic integral controller and further assessment of the crane. The paper to the crane control system development at home and abroad carried out a brief summary.Elaborated a mathematical model of the process of mobile elevated crane. Introduction main content of LQI linear quadratic control,and through the multivariable control of LQI ,to the displacement mobile overhead crane and the load swing angle of the control. Keywords:crane with mobile elevated;transfer function;controller of LQI 第一章 绪论 1.1 课题研究的目的和意义 在一定范围内垂直提升和水平搬运重物的多动作起重机械， 又称