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发表时间：2015-01-01

发表刊物：中国机械工程

所属单位：机械工程学院

期号：5

页面范围：606-610,611

ISSN号：1004-132X

摘要：Aiming at the problems of poor precision,low operation efficiency and low security due to the load oscillation of luffing motion for crane,an error asymptotic compensation control method was proposed to minimize the sway angle of load.Based on the analysis of error asymptotic compensa-tion control theory,the error asymptotic compensation controller was designed.Through appropriate adj ustments to the two stage compensation coefficients,the sway angle of the lifted load was gradual-ly decreased,meanwhile,the requirements of the acceleration and the pump displacement were met. The MATLAB simulation results show that error asymptotic compensation controller has good ro-bustness and control precision for different ropes and jib lengths.After the crane began to brake,the sway angle is reduced to below 0?003 rad in 10 seconds.

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