oint-to-pointmovementofapayload.Theinputangularaccelerationtothejibmotorispostulatedashavingapulse-coast-pulseform.Anumericaloptimizationtechniqueisusedtogeneratetheparameterswhichdefinethispulsesequencesuchthatthemaneuverisresidualoscillationfree.Ofsecondaryinterestaremaneuverswherethepayloadoscillatesinaspecifiedmannerattheendof--themaneuver.Again,thepulsesequencesaredesignedvianumericaloptimizabtainedfromtheapplicationofPontryagin'smaximumprinciple,aresolvedanalyticallyforthecasesofconstantandvariablehoistingspeeds.Inbothcasesthemaneuversaredevelopedsuchthatthepayloadisresidualoscillationfree.MoustafaandEbeiddemonstrateastatefeedbackcontrollerfordampingloadswayforagantrycraneconfiguredtomovealongtwoorthogonaldirectionsinthehorizontalplane.ThisworkisexpandedonbyEbeidet.al.toincorporateactuatordynamicsintothecranemodel.Fliesset.al.investigateafeedbacklinearizingcontrollerforaone-dimensionalgantrycrane.Trolleytraversalandload-linelengthchangesareconsidered.Simulationresultsindicatetheabilityoftheclosed-loopcontrollertocontrolloadswayforrelativelyslowmaneuvers.ThissamesystemisexaminedbyNguyenwheresimulationandexperimentalresultsofanonlinearstte-feedbackcontrollerisused.Smallmotionsareassumedaboutaspecifiedoperatingpoint.Thisallowsfordecoupledequationsofmotionanddecoupledcontrollerdesign.SakawaandNakazumiinvestigatearotarycraneundergoinghubandboomrotationandloadhoistingusingacombinedopenandclosed-loopapproach.Theopen-loopinputtothecraneisdesignedbasedonapostulatedsetoffunctionssuchthattheswaymotionoftheloadisexcitedminimally.Theclosed-loopcontrolleristhenswitchedonwhenthemaneuverisneartheend,providingsignificantswaydamping.Vahaet.al.generatesuboptimal,minimumtimeinputsforarotarycrane.Trackingisachievedviaastatefeedbackcontrollaw.However,radialsway,duetocentripetalaccelerationofthepayload,isnotcompensated.SouissiandKoivoconsiderarotarycraneundergoingaboom-rotation-boommaneuverusingaproportional-integral-derivativecontrollersimilartoFliesset。al..Thesimulationmodelconsidersbothradialandtangentialpayloadsway,however,thecontrolstrategyusedresultsinresidualloadoscillation.Inthispaperaprocedureforgeneratingopen-loopinputsforarotaryjibcraneisintroduced.Theprimarymaneuverofinterestistheresidualoscillation,point-to-pointmovementofapayload.Theinputangularaccelerationtothejibmotorispostulatedashavingapulse-coast-pulseform.Anumericaloptimizationtechniqueisusedtogeneratetheparameterswhichdefinethispulsesequencesuchthatthemaneuverisresidualoscillationfree.Ofsecondaryinterestaremaneuverswherethepayloadoscillatesinaspecifiedmannerattheendof--themaneuver.Again,thepulsesequencesaredesignedvianumericaloptimiza接近尾声时，提供明显摆动阻尼。vaha等产生最理想旋转起重机，最短时间投入通过状态反馈控制律通过跟踪然而，--由于向心力有效载荷，径向摇摆，没有得到补偿。souissi和Koivo考虑使用比例-积分-微分控制器类似佛里斯等人经历了旋转臂操纵旋转起重机仿真模型，同时考虑径向和切向载荷摆动，然而，在剩余载荷振荡控制策略使用结果。本文介绍产生一个旋转旋臂起重机开环输入程序感兴趣主要策略是残留振荡，点至点有效载荷运动假设有一个脉冲,脉冲形式输入角加速度臂电机数值优化技术用于生成定义演习如残留振荡脉冲序列参数二次感兴趣是回旋在演习结束时有效载荷，在指定方式振荡再次，脉冲序列通过数值优化设计这些回旋实验结果验证了数值优化过程结果。、吊车描述这里考虑起重机由一个旋转臂与负载线连接到终端群众，代表有效载荷，连接到负载线此设备如图坐标系统是连接臂和旋转角速率为y枢纽旋转角度，EL。负载线旋转约，，轴分别定义。臂负载线连接点，如在一个旋转枢纽中心距离为x负载线长度L和有效载荷质量为m，从现在起将交由两个旋转径向（）和切向（E）这个系统输入如枢纽旋转轨迹Y（T）和输出负载线，，（T），E（t）旋转角度。实验系统采用恒定速度，电脑控制，直接驱动，电机表给出了物理，X，M，L值。--在介绍中提到，回旋是检查，其中包括“臂旋转，首先是设计，有效载荷如残留振荡第二只允许在操纵结束切向振动，而第三个允许只有径向振荡有效载荷。。结果表显示了三个回旋利用率通过优化过程中获得参数臂旋转曲线图所示通过图。在硬件上实现角加速度型材，在第节所述，生产没有修改输入所需回旋这意味着一个优秀建模和模拟这个系统能力在测试过程中残留振荡情况下通过观察确定由于仿真和实验之间协议，仿真图。--图残留振荡自由操纵使用时间约半期操纵加速度分布对称；这是与Petterson和罗比内特劳方法得到结果一致允许在径向或切向方向钟摆摆动，只需要在图非对称加速记录和图。钟摆摆动曲线图所示，通过图。演习过程中离心效应由图所示，通过图which显示投影有效载荷和臂架底水平表面上。在所有情况下负载观察尖路径从最初向外移动这里加速发展概况刻意激发振荡运动负荷。调查傅里叶级数加速记录说明了这一点。准静态刚度矩阵式检查。整个剩余自由振荡回旋表明，在准静态负载自然频率只有轻微变化。具体来说，标称（非旋转）在径向和切向方向固有频率如.赫兹。初始加速度脉冲，速度为零，在这个频率略有增加结果。然而，在演习角速度软化效应导致准静态自然频率，在演习期间半减少到.赫兹。这在准静态自然频率变化是在大约半周期时间对称。图显示输入加速度记录长期Fourier正弦级数展开。表给出了臂角度整合加速记录从获得记录，前个系数。最后，有些值得一提是这项技术可靠性。预计该系统性能将受到不准确模型影响。敏感性分析表明，最重要模型参数是负载线长度。这些质量上小错误可能导致残余振动，性能显着降低，而臂长类似错误，也不可容忍。由于加速剖面连续性质响应灵敏度，可以减少使用平滑轮廓，如正矢函数。这项技术已用于灵活杆振动抑制，并在这里适用。.总结旋臂起重机旋转产生残留振荡而自由回旋方法已被提出。此方法使用系统模型上结合数值优化过程描述臂角加速度剖面上生成参数。演习使用此过程中获得实验验证表明不仅这种方法实用性，但也能够准确地模拟系统。输入配置上也显示，以刻意激发准静态载荷上频率，以减少臂起重机（即降低建筑成本）上工作时间。致谢桑迪亚国家实验室进行上这项工作如由美国能源部支持根据合同DE-ACO-AL.上。.参考文献.J.W.auernigH.Troger，“时间最优控制桥式吊车吊装负载，”自动化卷。号页-，。.K.A.F.穆斯塔法和上午奥贝德，“非线性建模与控制桥式起重机载荷摆动，”动态系--统，测量控制卷。页-,。.上午奥贝德，K.A.F.穆斯塔法阁下埃马拉Shabaik，“桥式起重机上机电模拟，”国际系统科学，卷Jouml。号，pp.-，。.M.佛里斯，J.P.Rouchon，“通过广义状态空间模型起重机控制SimplifiedApproach上莱文，”Coilferenceon决策和控制，布赖顿，英国，年，第-IEEE.H.T.阮云道，“桥式起重机上状态变量反馈控制器，电气和电子工程师，澳大利亚，卷杂志。号，页-,。.华SakawaA.Nakazumi，上“一个旋转起重机上建模与控制”，Joumal动态系统，测量控制卷。页-，btainedfromtheapplicationofPontragin'smaximumprinciple,aresolvedanalyticallyforthecasesofconstantandvariablehoistingspeeds.Inbothcasesthemaneuversaredevelopedsuchthatthepayloadisresidualoscillationfree.MoustafaandEbeiddemonstrateastatefeedbackcontrollerfordampingloadswayforagantrycraneconfiguredtomovealongtwoorthogonaldirectionsinthehorizontalplane.ThisworkisexpandedonbyEbeidet.al.toincorporateac本科毕业设计（本科毕业论文）外文文献及译文文献、资料题目：Vibrationsuppressionoffixed-timejibcranemaneuvers文献、资料来源：网络文献、资料发表（出版）日期：.院（部）：机电工程学院专业：机械工程及自动化--外文文献：Vibrationsuppressionoffixed-timejibcranemaneuversABSTRACTAjibcraneconsistsofapendulum-likeendlineattachedtoarotatablejib.Withinthisgeneralcategoryofcranesthereexistdeviceswithmultipledegreesoffreedomincludingvariableload-linelengthandvariablejiblength.Thesecranesarecommonlyusedforconstructionandtransportationapplications.Point-to-pointpayloadmaneuversusingjibcranesareperformedsoasnottoexcitethesphericalpendulummodesoftheircableandpayloadassemblies.Typically,thesependulummodes,althoughtime-varying,exhibitlowfrequencies.Theresultingmaneuversarethereforeperformedslowly,contributingtohighconstructionandtransportationcosts.Thecraneconsideredhereconsistsofasphericalpendulumattachedtoarigidjib.Theotherendofthejibisattachedtoadirectdrivemotorforgeneratingrotationalmotion.Ageneralapproachispresentedfordeterminingtheopen-looptrajectoriesforthejibrotationforaccomplishingfixed-time,point-to-point,residualoscillationfree,symmetricmaneuvers.Theseresidualoscillationfreetrajectoriespurposelyexcitethependulummodesinsuchawaythatattheendofthemaneuvertheoscillatorydegreesoffreedomarequiescent.Simulationresultsarepresentedwithexperimentalverification.Keywords:RotaryCrane,Control,Swing-Free,Oscillation-Free,InputShapingINTRODUCTION.Constructionandtransportationcranescangenerallybegroupedintooneoftwocategoriesbasedontheirconfiguration.Thefirstcategoryconsistsofoverhead,gantrycranes.Thesesystemsincorporateatrolleywhichtranslatesinthehorizontalplane.Attachedtothetrolleyisaload-lineforpayloadattachment.Typically,theyhavevaryingload-linelengthcapabilities.Thesecondcategoryconsistsofrotarycranes.Asthenameimplies,theload-lineattachmentpointundergoesrotation.Otherdegreesoffreedommayexistsuchastranslationoftheload-lineattachmentpointalongthejib,variableload-linelength,orifthejibisreplacedbyaboom,thecharacteristicboomrotationalmotion,knownasluffing*AuernigandTrogerconsidertimeoptimalpayloadmaneuversofagantrycraneundergoing--trolleytranslationandload-linelengthchange.Thecoupled,nonlinearequationsofmotionandadjointequations,obtainedfromtheapplicationofPontryagin'smaximumprinciple,aresolvedanalyticallyforthecasesofconstantandvariablehoistingspeeds.Inbothcasesthemaneuversaredevelopedsuchthatthepayloadisresidualoscillationfree.MoustafaandEbeiddemonstrateastatefeedbackcontrollerfordampingloadswayforagantrycraneconfiguredtomovealongtwoorthogonaldirectionsinthehorizontalplane.ThisworkisexpandedonbyEbeidet.al.toincorporateactuatordynamicsintothecranemodel.Fliesset.al.investigateafeedbacklinearizingcontrollerforaone-dimensionalgantrycrane.Trolleytraversalandload-linelengthchangesareconsidered.Simulationresultsindicatetheabilityoftheclosed-loopcontrollertocontrolloadswayforrelativelyslowmaneuvers.ThissamesystemisexaminedbyNguyenwheresimulationandexperimentalresultsofanonlinearstte-feedbackcontrollerisused.Smallmotionsareassumedaboutaspecifiedoperatingpoint.Thisallowsfordecoupledequationsofmotionanddecoupledcontrollerdesign.SakawaandNakazumiinvestigatearotarycraneundergoinghubandboomrotationandloadhoistingusingacombinedopenandclosed-loopapproach.Theopen-loopinputtothecraneisdesignedbasedonapostulatedsetoffunctionssuchthattheswaymotionoftheloadisexcitedminimally.Theclosed-loopcontrolleristhenswitchedonwhenthemaneuverisneartheend,providingsignificantswaydamping.Vahaet.al.generatesuboptimal,minimumtimeinputsforarotarycrane.Trackingisachievedviaastatefeedbackcontrollaw.However,radialsway,duetocentripetalaccelerationofthepayload,isnotcompensated.SouissiandKoivoconsiderarotarycraneundergoingaboom-rotation-boommaneuverusingaproportional-integral-derivativecontrollersimilartoFliesset。al..        本科毕业设计（本科毕业论文）外文文献及译文文献、资料题目：Vibrationsuppressionoffixed-timejibcranemaneuvers文献、资料来源：网络文献、资料发表（出版）日期：2010.11院（部）：机电工程学院专业：机械工程及自动化-1-外文文献：Vibrationsuppressionoffixed-timejibcranemaneuversABSTRACTAjibcraneconsistsofapendulum-likeendlineattachedtoarotatablejib.Withinthisgeneralcategoryofcranesthereexistdeviceswithmultipledegreesoffreedomincludingvaria

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