PIDWindup
ThisInteractiveLearningModule(ILM)ispartofasequenceofmodulesthat
havebeendesignedtomakeyoufamiliarwithPIDcontrol.Themodulesweredesignedasacomplementtothebook[1].Theycanbeviewedasanattempt
tomakethekeypicturesinthebookinteractive.Thisparticularmoduleisde-
signedtodevelopanunderstandingforintegralwindupandonewaytoavoid
it.Therearetwoiconstoaccessinstructionsandtheory.Therearealsotwoas-sociatedmodulesPIDBasicsandPIDLoopShapingthatgivesyouadditional
insight.Instructionsgiveaccestothisdocumentwhichcontainssuggestionsfor
experiments.Theorygivesaccesstohelpviainternet.
ManyaspectsofPIDcontrolcanbeunderstoodusinglinearmodels.Thereare
howeversomeimportantnonlineareffectsthatareverycommoneveninsimpleloopswithPIDcontrol.Integralwindupcanoccurinloopswheretheprocesshas
saturationsandthecontrollerhasintegralaction.Whentheprocesssaturates
基于S型曲线轨道的桥式起重机最优控制
欧阳慧珉;张广明;王德明;梅磊;邓歆
【摘 要】Aiming at the residual load sway problem of overhead cranes,an
S-shaped curve trajectory generation method was proposed to realize
residual load sway suppression.Firstly,a dynamic model of an overhead
crane was derived.Next,an optimal S-shaped curve trajectory getting the
shortest transport time and residual load sway suppression was generated
with the numerical calculation method.Finally,comparing the results of
simulations and tests validated the effectiveness of the proposed
method.Thus,the crane could be precisely and rapidly operated without
sensor systems for measuring load sway,the structure of the crane was
simplified and its installing cost was reduced.%针对桥式起重机荷载的残留摆动问题，提出一种基于S型曲线的轨道生成法实现残留摆动抑制。首先，导出桥式起重机的简易动力学模型。其次，基于该模型通过数值计算生成同时考虑了最短运输时间和残留摆动的最优S型曲线轨道。最后，比较仿真和实验结果验证所提方法的有效性。通过使用此法可以实现在无测量摆角的传感器系统情况下准确迅速地操作起重机，从而大大地简化其结构和降低其安装成本。
⽂献
徐胜元
简介：徐胜元，男，南京理⼯⼤学⾃动化学院教授、博⼠、博⼠⽣导师。毕业于南京理⼯⼤学控制理论与控制⼯程专业，获得博⼠学位。
研究⽅向：1、鲁棒控制与滤波2、⼴义系统3、⾮线性系统2017年
SCI
1.Relaxed conditions for stability of time-varying delay systems ☆TH Lee，HP Ju，S Xu 《Automatica》, 2017, 75:11-15
EI
1.Relaxed conditions for stability of time-varying delay systems ☆TH Lee，HP Ju，S Xu 《Automatica》, 2017, 75:11-15
2.Adaptive Tracking Control for Uncertain Switched Stochastic Nonlinear Pure-feedback Systems with Unknown Backlash-like HysteresisG Cui，S Xu，B Zhang，J Lu，Z Li，...《Journal of the Franklin Institute》, 2017
2016年
SCI
1..Finite-time output feedback control for a class of stochastic low-order nonlinear systemsL Liu，S Xu，YZhang《International Journal of Control》, 2016:1-16
2.Universal adaptive control of feedforward nonlinear systems with unknown input and state delaysX Jia，S Xu，Q Ma，YLi，Y Chu《International Journal of
Hydraulic System——液压与气压系统【中英文对照】
Hydraulic System
There are only three basic methods of transmitting power:Electrical，mechanical．and fluid power．Most applications actually use a combination of the
three methods to obtain the most efficient overall system．To properly determine
which principle method to use。it is important to know the salient features of each
type．For example，fluid systems call transmit power more economically Over greater
distances than Can mechanical types．However。fluid systems are
restricted to shorter distances than are electrical systems．
Hydraulic power transmission system ale concerned with the generation，
modulation， and control of pressure and flow and ,and in general such systems
include:
1．Pumps which convert available power from the prime mover to hydraulic power
at the actuator．
