中文摘要：

为了解决工程中起重机吊重摆角和摆角角速度不易测量的问题,通过利用小车位置信息设计状态观测器,小车吊重系统和观测器构成软测量系统。通过引入观测器输出与小车吊重系统输出之间的差值并经过观测器的增益向量负反馈至观测器的输入端,将观测器的极点配置在负实轴上,实现系统对摆角和摆角角速度稳定、快速软测量。仿真研究表明：软测量系统具有较强的鲁棒性;随极点增大,软测量系统对吊重和绳长变化具有更宽的适应范围;当极点确定时,软测量效果对绳长变化比吊重变化敏感。

英文摘要：

In order to resolve the problem that the load＇s swing angle and swing angle-velocity were hard to measure for overhead crane or gantry crane in engineering practice,the state observer was designed by using trolley＇s position information,and state observer and trolley-load system composed soft measure system.The difference value between the state observer＇s output and the trolley-load system＇s output was introduced and adjusted by the observer＇s gain vector,then sent to the observer＇s input terminal.The observer＇s poles were placed at the negative real axis on complex plane,and the system can softly measure the swing angle and swing angle-velocity stably and quickly.Simulation study results show that the soft measure system has strong robust property.The soft measure system can be more widely adaptive for the changes of load mass and rope length when the poles increase.Soft measure effect is more sensitive to rope length than load mass when the poles are determined.