中文摘要：

核废料库数控桥式起重机由于工作环境内的放射性危害,需要在库房外对其进行自动控制,这种方法能够避免操作人员受到核辐射,但要将固化桶精确转运至储存井上方和消摆却相当困难.传统核级起重机的自动控制方式只考虑实现高精度定位,消摆则是依靠喇叭型防摆机构或自然消摆.为简化起重机设计及尽量减少辐射场内的电子元器件,在分析桥式起重机物理模型的基础上将预优化起重机运动规律与位置PID控制相结合,实现自控起重机的精确定位和到位消除固化桶摆动.实验结果表明该方法能够在不降低作业效率的前提下,满足核废料数控起重机对精确定位及到位消摆的控制要求.

英文摘要：

Due to the radioactive hazards within the work environment, bridge crane worked in the repository of nuclear waste is operated automatic outside the treasury. This method avoids the operator subject to the hazards of nuclear radiation, but it is quite difficult to accurate transit the barrels containers nuclear waste to storage well and eliminate swing. The traditional control mode of nuclear grade crane only hope to achieve high-precision positioning, and eliminate swing is relying on a horn-type anti-sway stabilizer or natural elimination. To simplify the cranes design and minimize electronic components inside the radiation, it puts forward a pre-optimize the crane speed and position PID control method based on bridge cranes physical model to achieve the self-control crane precise positioning and eliminate swinging. The experimental results show that this method will not reduce the operating efficiency, and meet the nuclear waste--controlled crane precise positioning and control requirements.