Abstract:

Aiming at solving the problem of poor availability of the physical parameters of a practical overhead crane，this thesis proposes
a parameter identification method based on energy reservation． It builds up regression equations for identification based on energy
reservation principle，and then applies non-negative least squares algorithm to deal with data，obtaining the controller design model of overhead
crane． This thesis has the identification experiments done on the overhead crane experimental system simulating the characteristics
of the operation of practical overhead crane and gets the mathematical model of the system． On the basis of the mathematical model，
an LQR controller has been designed to testify the accuracy of the identification results，confirming that the parameter identification
method can help a lot on control of overhead crane．

Key words: overhead crane, parameter identification, energy reservation

摘要：

针对实际桥式吊车系统物理参数不易获得的问题，提出一种基于能量守恒的参数辨识方法。该方法根据能量守恒原理建立辨识回归方程，然后用非负最小二乘法处理辨识实验数据，得到桥式吊车的控制器设计模型。以桥式吊车实验系统为背景，模拟桥式吊车的实际运行特点，进行辨识实验，获得系统的数学模型。在此基础上用LQＲ 控制器验证了该方法在桥式吊车实验系统上辨识结果的准确性，证明该辨识方法对桥式吊车的控制有很大帮助。

关键词: 桥式吊车, 参数辨识, 能量守恒