舰载特种起重机的时间-能量综合最优控制

舰载特种起重机是我国正在研制开发的多关节、可折叠式船用起重机。研究它的高效节能运行模式，也就是时间－能量综合最优控制意义重大，本文通过引入加权变量得到舰载特种起重机的时间－能量综合最优性能指标，证明了综合最优解的结构，并进一步提出了“预测平均动态理论”概念，应用此理论处理了舰载特种起重机的非线性和耦合，最终设计了反馈形式的时间－能量综合最优控制器。仿真的结果验证了此设计方法的正确有效性。

On Combined Time-Energy Optimal Control of Carrier-borne Crane

Carrier borne crane, a multi joint foldable one, is being developed in the country. It is important to study the most effective energy saving(i.e. combined time energy optimal)operation control mode. In this paper, by introducing weighted parameters, a combined time energy optimal operation criterion is obtained, and configuration of the optimal controller is verified, furthermore, a predictive average dynamic method is put forward, and then the method is applied to treat nonlinearity and coupling of the crane. Finally, an optimal controller with feedback is designed. The validity of this approach is verified by simulation results.