中文摘要：

桥式起重机运行时,小车移动引起的货物摆动影响了运输效率,容易引发事故,桥式起重机的定位及防摆问题引起了众多专家的关注.针对桥式起重机重复运动的情况,采用迭代学习控制策略来实现位置跟踪及角度控制.根据拉格朗日方程建立了桥式起重机的三维数学模型.设计了桥式起重机角度控制的迭代学习控制算法,并证明了算法的收敛性.研究表明,迭代学习控制可有效利用桥式起重机运行的重复信息,经过一定次数的迭代学习后,位置跟踪误差为0,摆角抑制在7＆#176;以内.仿真示例验证了方法的有效性.

英文摘要：

When bridge crane is working, the swing of cargo caused by the movement of trolley can influence the transport efficiency seriously, therefore it is easy to cause accident. So the problem of position tracking and anti swing of bridge crane attracts the attention of many experts. Aiming at the condition of repeat working of bridge crane, iterative learning control strategy is used to realize position tracking and angle control. A threedimensional mathematical model of bridge crane is firstly established, and then the PDtype iterative learning control law is giv en. The convergence of the proposed iterative learning control law is analyzed. It is shown that the control algorithm can suppress the angle effectively and obtain perfect tracking performance after some iteration. A simulation exam ple is also given to illustrate the effectiveness of the proposed approach.