heavy lift system

The differences of the observed outputs of the state observer from those of the trolley-load system are calculated first,and these differences are sent to the feedback input after adjusted by a gain vector.

为获得桥门式起重机吊重摆角和摆角角速度等系统状态变量,计算得到状态观测器与小车吊重系统输出的差值,再经过观测器的增益向量调节送至观测器的反馈输入端。

A 2-degree of freedom model of load swing angel was derived based on 3-dimensional dynamic equations of the trolley-load system.

根据小车吊重系统三维动力学方程建立了吊重二自由度摆角的数学模型。