桥式吊车小车运动控制系统的建模及MATLAB仿真_实践报告.doc

"桥式吊车小车运动控制系统的建模及MATLAB仿真" 本文主要研究桥式吊车小车运动控制系统的建模和MATLAB仿真。桥式吊车是一种常用的机械设备，广泛应用于机械工业、冶金工业和化学工业中。它是一个复杂的MIMO控制系统，可以作为控制理论算法研究的理想实验平台。 桥式吊车系统由三部分组成：桥架驱动系统、小车驱动系统和重物撞吊系统。系统的工作流程为：先将重物起吊至预先设定好的高度，然后小车运动将重物运到想要放置的位置上方，最后把重物下放到想要放置的位置上。 为了建立桥式吊车系统的数学模型，我们首先做如下假设：①吊车的行走运动仅限于小车一个自由度，即假设桥架不运动，只有小车在桥架上行走。②小车行走时吊装重物的绳索长度不变。 根据牛顿第二定律，我们可以建立小车及重物的运动方程式。在水平方向，小车和重物整体受力为F(t)，由牛顿第二定律可得： ＭＭＭＭＸｔｍＸｔｌＭｌＭＸｍＸｍｔｌＭｍｇ２（１－１） 在垂直于绳索方向，重物受力为sin(q)，由牛顿第二定律可得： ｍｍｍＭＸｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭｍｔｌＭ<|start_header_id|><|start_header_id|><|start_header_id|>assistant<|end_header_id|> "桥式吊车小车运动控制系统的建模及MATLAB仿真" 本文主要研究桥式吊车小车运动控制系统的建模和MATLAB仿真。桥式吊车是一种常用的机械设备，广泛应用于机械工业、冶金工业和化学工业中。它是一个复杂的MIMO控制系统，可以作为控制理论算法研究的理想实验平台。 桥式吊车系统由三部分组成：桥架驱动系统、小车驱动系统和重物撞吊系统。系统的工作流程为：先将重物起吊至预先设定好的高度，然后小车运动将重物运到想要放置的位置上方，最后把重物下放到想要放置的位置上。 为了建立桥式吊车系统的数学模型，我们首先做如下假设：①吊车的行走运动仅限于小车一个自由度，即假设桥架不运动，只有小车在桥架上行走。②小车行走时吊装重物的绳索长度不变。 根据牛顿第二定律，我们可以建立小车及重物的运动方程式。在水平方向，小车和重物整体受力为F(t)，由牛顿第二定律可得： ＭＭＭＭＸｔｍＸｔｌＭｌＭＸｍＸｍｔｌＭｍｇ２（１－１） 在垂直于绳索方向，重物受力为sin(q)，由牛顿第二定律可得： 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