中文摘要：

在研究起重机吊重系统防摇控制时,可以分别对小车位移和摆角子系统进行控制器设计。由于在起重机摆角子系统中吊重摆角角速度一般靠传感器进行测量,增加了运行和维护成本。为此提出了设计起重机摆角子系统非线性扩张状态观测器对起重机摆角子系统状态信息进行重构,软测量摆角角速度。给出了观测器的结构方程,并运用Matlab对观测器参数进行了优化整定。参数整定后的扩张状态观测器能够在0.3 s内估计出系统摆角和摆角速度,并且在0.5 s内估计出了系统的外界干扰。仿真结果表明：经过Matlab参数整定的扩张状态观测器（extend state observer,ESO）可以实现对非线性的起重机摆角子系统状态信息的软测量。

英文摘要：

In the study of crane hoisting system rolling control, the design of displacement and pendulum for car slot system controller can respectively be carried out. Because the crane pendulum slot system hoisting pendulum cape speed general by sensor measurement, the operation and maintenance costs increased. The status information of nonlinear extended state observer for crane pendulum slot system was reconstructed, soft measurement pendulum cape speed was put forward. The observer structural equation was given, and the observer parameters were optimized by using Matlab. After the parameters setting of the extended state observer can be in 0. 3 s. inside estimate system pendulum Angle and pendulum angular velocity, and in 0.5 s. estimate within the system interference. The simulation results show that can realize the nonlinear crane pendulum slot system status information of the soft measurement after Matlab parameter setting of the extended state observer （extend state observer, ESO）.