基于远程虚拟监控的数控起重机控制系统开发
|
摘要
随着核电事业的高速发展,核电站在提供给人类巨大能源的同时也带来了许多问题,其中最重要的问题之一就是如何处理核电站产生的大量核废料。目前国内应用于核废料处理的吊运设备主要还是进口的核废料起重机,存在价格昂贵,维修保养不方便等问题,而国内对该设备的研究还处于起步阶段,因此,研制具有自主知识产权的国产化核废料数控起重机就具有非常重要的现实意义。
本文针对核废料起重机的工作要求,参考现有核废料起重机的控制系统结构、机械结构和核废料吊运的工艺流程,提出了核废料数控起重机控制系统的整体设计方案,包括硬件方案和软件方案；在此基础上,设计了控制系统的硬件控制单元,包括伺服系统、可编程控制器和传感器等,并进行了相应单元的硬件选型；针对核废料起重机的高定位精度要求,综合采用基于虚拟轴的多电机同步算法和离散PID算法,满足定位精度要求；为了减小吊重摆动,提高核废料起重机运行的安全性,在分析国内外防摆算法的基础上,本文提出了一种模糊变论域自适应防摆算法,解决了传统模糊防摆算法参数设置的难题,简化了解耦方法和控制器结构；针对核废料起重机高可靠性作业的特点,本文将容错控制与基于故障树的故障诊断法相结合,采用主动容错法,通过硬件冗余和软件冗余实现控制系统的可靠性设计。
同时本文还研究了基于Kinect的核废料数控起重机远程操作技术。参考起重机操作规范,将操作员动作划分为静态手势和动态手势,并建立相关动作库,通过Kinect检测识别操作员手势并控制虚拟监控模块的运行,通过模板匹配法识别静态手势,通过动态帧分析识别动态手势。
最后,通过仿真和实验室搭建的样机进行了实验,并对实验所得各类数据和波形进行了分析,验证了本系统设计的合理性,并对核废料起重机的下一步研制有着一定的参考价值。
With the rapid development of nuclear power industry, nuclear power plants bring many problems while providing human beings huge energy. One of the most important problems is how to deal with a large number of nuclear wastes produced by nuclear power plants. Currently, waste treating equipment applied to lifting is mainly imported in China, however it's expensive and not convenient to maintain. Research of the equipment is still in the primary stage in China. So developing the NC crane for nuclear waste storehouse with independent intellectual property has an extremely strong realistic meaning.
According to the working requirements of the nuclear waste crane, overall design scheme of control system has been put forward referring to existing nuclear waste crane's control system structure, mechanical structure and technological process, including the hardware scheme and software scheme. On the basis, the hardware control unit is designed and selected, including servo system, PLC and senso. Aiming at the characteristic of high positioning accuracy of nuclear waste cranes, two methods are used to meet the positioning accuracy requirement, including multi-motor synchronization based on virtual axis and discrete PID algorithm. In order to reduce swing and improve the security of nuclear waste crane, variable universe fuzzy controller for anti-swing is put forward based on the analysis of anti-swing controllers at home and abroad. And the difficulty in the choice of coefficients of traditional universe fuzzy controller is solved. Aiming at the characteristic of high reliability of nuclear waste cranes, fault-tolerant technology is combined with fault diagnosis based on fault tree,and active fault-tolerant can enhance crane's reliability through hardware redundancy and software redundancy.
Remote operation technology of NC cranes'for nuclear waste storehouse based on Kinect is studied. Referring to crane operation specifications, Operator action is divided into static hand gesture and dynamic hand gesture,and then hand gesture library is built. Operator hand gestures are detected and identified through Kinect and then control the virtual monitoring module. The identification of static hand gesture is achieved through template match, and the identification of dynamic hand gesture is achieved through the dynamic frame analysis.
Finally, experiment is conducted through simulation and crane prototype built in laboratory, all the data and waveforms getting from the experiment are analyzed, the result verifies the rationality of the system and provides a certain reference value for the development of the nuclear waste crane.
本文针对核废料起重机的工作要求,参考现有核废料起重机的控制系统结构、机械结构和核废料吊运的工艺流程,提出了核废料数控起重机控制系统的整体设计方案,包括硬件方案和软件方案；在此基础上,设计了控制系统的硬件控制单元,包括伺服系统、可编程控制器和传感器等,并进行了相应单元的硬件选型；针对核废料起重机的高定位精度要求,综合采用基于虚拟轴的多电机同步算法和离散PID算法,满足定位精度要求；为了减小吊重摆动,提高核废料起重机运行的安全性,在分析国内外防摆算法的基础上,本文提出了一种模糊变论域自适应防摆算法,解决了传统模糊防摆算法参数设置的难题,简化了解耦方法和控制器结构；针对核废料起重机高可靠性作业的特点,本文将容错控制与基于故障树的故障诊断法相结合,采用主动容错法,通过硬件冗余和软件冗余实现控制系统的可靠性设计。
同时本文还研究了基于Kinect的核废料数控起重机远程操作技术。参考起重机操作规范,将操作员动作划分为静态手势和动态手势,并建立相关动作库,通过Kinect检测识别操作员手势并控制虚拟监控模块的运行,通过模板匹配法识别静态手势,通过动态帧分析识别动态手势。
最后,通过仿真和实验室搭建的样机进行了实验,并对实验所得各类数据和波形进行了分析,验证了本系统设计的合理性,并对核废料起重机的下一步研制有着一定的参考价值。
With the rapid development of nuclear power industry, nuclear power plants bring many problems while providing human beings huge energy. One of the most important problems is how to deal with a large number of nuclear wastes produced by nuclear power plants. Currently, waste treating equipment applied to lifting is mainly imported in China, however it's expensive and not convenient to maintain. Research of the equipment is still in the primary stage in China. So developing the NC crane for nuclear waste storehouse with independent intellectual property has an extremely strong realistic meaning.
According to the working requirements of the nuclear waste crane, overall design scheme of control system has been put forward referring to existing nuclear waste crane's control system structure, mechanical structure and technological process, including the hardware scheme and software scheme. On the basis, the hardware control unit is designed and selected, including servo system, PLC and senso. Aiming at the characteristic of high positioning accuracy of nuclear waste cranes, two methods are used to meet the positioning accuracy requirement, including multi-motor synchronization based on virtual axis and discrete PID algorithm. In order to reduce swing and improve the security of nuclear waste crane, variable universe fuzzy controller for anti-swing is put forward based on the analysis of anti-swing controllers at home and abroad. And the difficulty in the choice of coefficients of traditional universe fuzzy controller is solved. Aiming at the characteristic of high reliability of nuclear waste cranes, fault-tolerant technology is combined with fault diagnosis based on fault tree,and active fault-tolerant can enhance crane's reliability through hardware redundancy and software redundancy.
Remote operation technology of NC cranes'for nuclear waste storehouse based on Kinect is studied. Referring to crane operation specifications, Operator action is divided into static hand gesture and dynamic hand gesture,and then hand gesture library is built. Operator hand gestures are detected and identified through Kinect and then control the virtual monitoring module. The identification of static hand gesture is achieved through template match, and the identification of dynamic hand gesture is achieved through the dynamic frame analysis.
Finally, experiment is conducted through simulation and crane prototype built in laboratory, all the data and waveforms getting from the experiment are analyzed, the result verifies the rationality of the system and provides a certain reference value for the development of the nuclear waste crane.
引文
[1]宫本智.核级起重机[J].起重运输机械,2002,(2)：9-11.
[2]赵德安,张宝余,马莉明等.核废料固化物库自控吊车控制系统的研制[J].电气传动,1999,4(3)：34-37.
[3]卜广强等.核电站起重机面临的问题及其对策[J].起重运输机械,2010(4)：5-10.
[4]穆兆辉.PMC系统换料机整体设计和传输系统改造[D].大连：大连理工大学,2008(6)：13-14.
[5]赵德安,张宝余,周云华.核废料固化物库自控吊车控制系统的研制[J].电气传动,1999(3)：34-37.
[6]王志刚.桥式起重机自控系统设计及关键技术研究[D].西安：长安大学,2009(12)：2-3.
[7]栾秀春,韩伟实,王俊玲等.核废料吊车高精度自动定位的技术实现[J].中国工程科学,2010(12)：45-50.
[8]赵德安,孙月平等.核电站核废物库新型数控遥控吊车[J].高科技与产业化,2009(9)：78-80.
[9]李晓冬,奚树人.核电站机组故障诊断系统的知识获取[J].核科学与工程,2003,23(4)：300-305.
[10]闫修平.反应堆冷却剂系统分布式故障诊断技术研究[D].哈尔滨：哈尔滨工程大学,2008(3)：11-12.
[11]钱华明.故障诊断与容错技术及其在组合导航系统中的应用研究[D].哈尔滨：哈尔滨工程大学,2004(5)：34-35.
[12]Benoist B.Expert system for the characterization of defect signals in steam generator tubes[J].Engineering Application of Artificial Intelligence,1995, 8(3):309-318.
[13]Sohn,Se Do.Testing digital safety system software with a testability measure based on a software fault tree[J].Reliability Engineering and System Safety,1996, 91(1):44-52.
[14]Peplow,Douglas E. Calculating nuclear power plant vulnerability using integrated geometry and event/Fault-Tree models[J].Nuclear Science and Engineering,2004,146(1):71-87.
[15]Durga Rao,K;Gopika,V.Dynamic fault tree analysis using Monte Carlo simulation in probabilistic safety assessment[J].Reliability Engineering and System Safety,2009,94(4):872-883.
[16]周春娟.基于故障树的反应堆故障诊断[D].上海：上海交通大学,2009(1)：78-82.
[17]郭强,赵新文.船用核反应堆余热排出系统的可靠性分析[J].中国修船,2008(5)：38-41.
[18]华小洋.核电站搬运核废料起重机的故障树分析[J].中国安全科学学报,2002(12)：5-9.
[19]Click,I;Kuzma,M. Heavy load drop analysis within low power and reactor shutdown PSA for mochovce NPP[C]//American Nuclear Society-International Congress on Advances in Nuclear Power Plants 2005.St.Seoul,Korea,Republic of:American Nuclear Society,2005:106-113.
[20]杨林芳.无人机容错飞行控制系统研究[D].南京：南京航空航天大学,2007(1)：13-14.
[21]G.Tao,S.M.Joshi,X.L.Ma. Adaptive Actuator failure compensation designs for linear systems [J].International Journal of Control,2002,46(1):78-95.
[22]Halim Alwi,Christopher Edward,fault-tolerant control using sliding modes with on-line control allocation[J].Automatica,2008,44(7):1859-1866.
[23]陈雪芹,张迎春,耿云海等.基于LMI的鲁棒容错控制及其在卫星姿态控制中的应用[J].控制理论与应用,2008,25(1)：95-99.
[24]Huang CY, Stengel R F.Restructurable control using proportional-integral implicit model following[J].Journal of Guidance Control and Dynamics,1990,13(6):303-309.
[25]Doman D B,Ngo A D.Dynamic inversion-based adaptive/reconfigurable control of the X-33 on ascent[J] Journal of Guidance Control and Dynamics,2002,25(2):275-284.
[26]Hess R A,Wells S R. Sliding mode control applied to reconfigurable flight contrl design[J]. Journal of Guidance Control and Dynamics,2003,26(3):452-462.
[27]袁芳,叶银忠,朱大奇.基于RCMAC的水下机器人容错控制方法研究[J].华中科技大学学报,2009,37(1)：147-150.
[28]颜明重,刘乾,朱大奇.基于神经网络的水下机器人容错控制方法与实验研究[J].船海工程,2009,38(5)：138-141,161.
[29]林吉良.移动机器人故障诊断与容错控制的研究[D].杭州：浙江大学,2009(7)：24-27.
[30]陈雪芹,张迎春,耿云海等.基于控制有效性因子的卫星姿态控制系统在轨重构容错控制[J].宇航学报,2007,28(1)：94-98.
[31]Srichander R,Walker B K. Stochastic Stability analysis for continuous-time fault tolerant control systems[J].Internal Journal of Control,1993,57(3):433-452.
[32]朱大奇,陈亮,刘乾.一种水下机器人传感器故障诊断与容错控制方法[J].控制与决策,2009,24(9)：1335-1339.
[33]蒋理,陈树广.基于模糊控制的桥式起重机定位防摆研究[J].计算机仿真,2009,26(6)：179-182.
[34]王玥媛.基于模糊控制的桥式起重机防摆研究[D].大连：大连理工大学,2008(12)：9-10.
[35]卢志强.桥式起重机智能控制器的设计与防摆研究[D].上海：华东交通大学,2009(10)：10-11.
[36]Yang Jung Hua.Adaptive Coupling Control for Overhead Crane Systems[J].Mechatronics,2005,2(1):1858-1863.
[37]Butler,Hans,Honderd,Ger.Model reference adaptive control of a gantry crane scale model [J].IEEE Control Systems Magazine.1991,11(1):57-62.
[38]Dominik Schindele,Ingolf Menn. Nonlinear Optimal Control of an Overhead Travelling Crane[C]//2009 IEEE International Conference on Control Applications.St.Petersburg,Russia:IEEE,2009:1045-1050.
[39]Auernig,J.W,Troger,H. Time optimal control of overhead cranes with hoisting of the load[J]. Automatica,1987,23(4):437-447.
[40]Marttinen,Arto. Control study with a pilot crane[J],IEEE Transactions on Education,1998,33(3):298-305.
[41]Yesildirek,Aydin.Anti-swing Control of Underactuated Overhead Crane System Using Multiple Lyapunov Functions[C]//2011 IEEE International Conference on Mechatronics and Automation. Beijing, China:IEEE,2011:428-432.
[42]Toxqui Rigoberto,Wen Yu.Anti-swing Control for Overhead Crane with Neural Compensation[C]//IEEE International Conference on Neural Networks. Vancouver,BC,Canda:IEEE,2006:4697-4703.
[43]Solihin Mahmud Iwan.Objective Function Seletion of GA-based PID Control Optimization for Automatic Gantry Crane[C]//Proceeding of the International Conference on Computer and Communication Engineeing.Kuala Lumpur,Malaysia:ICCCE,2008:883-887.
[44]Solihin Mahmud Iwan,Wahyudi. Fuzzy-tuned PID Anti-swing Control of Automatic Gantry Crane[J].Journal of Vibration and Control.2010,16(4):127-145.
[45]Wang Zhenyan,Chen Zhimei.On PSO Based Fuzzy Neural Network Sliding Mode Control for Overhead Crane[J].Advances in Intelligent and Soft Computing,2011,12(5):563-572.
[46]Suzuki,Yuzo,Yamada,Shin-ichi.Anti-swing Control of the container crane by fuzzy control[C]//Proceedings of the 19th International Conference on Industrial Electronics, Control and Instrumentation.Maui,Hawaii,USA:IECON Proceedings,1993:230-235.
[47]Moustafa,K.A.F. Fuzzy control of flexible cable overhead cranes with load hoisting[J].Transactions of the Institute of Measurement and Control,2006,28(4):371-386.
[48]Omar,H.M,Nayfeh,A.H.Anti-swing control of gantry and tower cranes using fuzzy and time-delayed feedback with friction compensation[J].Shock and Vibration.2005,12(2):73-89.
[49]Trabia Mohamed B,Renno Jamil.Generalized Design of an Anti-swing Fuzzy Logic Controller for an Overhead Crane with Hoist[J].Journal of Vibration and Control.2011,3(14):319-346.
[50]王晓军,邵惠鹤.基于模糊的桥式起重机的定位和防摆控制研究[J].系统仿真学报,2005,17(4)：936-939.
[51]赵明辉.起重机智能防摆控制方法研究[D].太原：太原科技大学,2010.
[52]Ye Ding,Jin Wei. Study on Overhead Crane Anti-swing System with Self-adjustable Fuzzy Control[C]//International Conference on Measuring Technology and Mechatronics Automation, Sanya China:IEEE,2012:1050-1053.
[53]Wang,Pengcheng,Fang,Yongchun.Adaptive Sliding-mode Fuzzy Control of an Overhead Crane System for Hoisting and Lowering Process[J].Zhongnan Daxue Xuebao,2011,42(1):90-96.
[54]王克琦.桥式起重机的定位和防摆控制研究[J].系统仿真学报,2007,19(8)：1799-1802.
[55]林威汉,高春光,张海涛.国内组态软件的现状与未来[J].电气时代,2002,(2)：9-12.
[56]巫影,何琳,黄映云等.虚拟现实技术综述[J].计算机与数字工程,2002,30(3)：41-44.
[57]胡小锋,李育平,杨国栋.液晶显示技术在塔机监控系统的应用[J].建筑机械化,2001,.
[58]黄奕翔,周俊,刘成良.基于WebGIS/GPRS/GPS的设备远程监控系统[J].计算机工程,2007,.33(3)：225-227.
[59]徐涛,李彦明,苗玉斌,刘成良.港口机械远程虚拟监控系统研究[J].计算机工程,2008,.34(21)：276-278.
[60]李超,李彦明,刘成良.塔式起重机3D远程虚拟监控[J].上海交通大学学报,2009,.43(11)：1689-1697.
[61]吴晓,丁国富,程文明.危险环境中的虚拟远程作业系统实验仿真[J].计算机工程与应用,2005,(35)：19-22.
[62]丁国富,周俊波,李涛,刘伯兴.结合VR技术的远程操作装卸不安全货物的仿真[J].交通运输工程与信息学报,2004,(1)：57-60.
[63]张倩倩.数控起重机作业管理控制系统设计与实现[D].成都：西南交通大学,2012.
[64]徐宏伟.核电站起重机电动机容量的选择[J].机械工程师,2009,(7)：150-152.
[65]吴其华,徐邦荃.多电机同步传动控制系统分析[J].兵工自动化.2003,22(1)：20-24.
[66]G.Turl,et al.A Multi-Induction-Motor drive stategy operation in the sensorless mode[J].Industry Applications Conference,2001,2(30):1232-1239.
[67]刘福才,张学莲.多级电机传动系统同步控制理论与应用研究[J].控制工程,2002,9(4)：87-89.
[68]M.A.Valenzuela,et al.Electronic Line-Shafting control for paper machine drives [J].Pulp and Paper Industry Technical Conference,2000:158-164.
[69]戴明宏.起重机变频调速控制系统的设计与研究[D].成都：西南交通大学,2004.
[70]杨雁,王云宽,宋英华.基于FPGA的数控加减速控制器的设计[J].制造技术与机床,2007,(6)：31-34.
[71]张振华.数控系统加减速算法及定位技术研究[D].大连：大连理工大学,2007.
[72]陈则煌.基于CPLD的平网印花机控制系统的研制[D].杭州：浙江大学,2012.
[73]郝晓弘,胡振邦,朱洁,秦睿.输电线路除冰机器人的S形曲线加减速算法设计[J].电网技术,2011,35(6)：196-199.
[74]李洪兴.变论域自适应模糊控制器[J].中国科学E辑,1998,28(3)：32-42.
[75]胡韶华.桥式吊车防摆控制技术研究[D].沈阳：沈阳工业大学,2006(3)：16-17.
[76]钟斌.基于吊重防摆的起重机快速对位关键技术研究[D].成都：西南交通大学,2007(11)：26.
[77]郑宏,徐红兵,朱贵平.变论域自适应模糊控制在航机发电中的应用[J].控制理论与应用,2008,(4)：253-256.
[78]黄凯.起重机自适应智能防摆控制方法及其仿真研究[D].南京：南京林业大学,2007.
[79]李洪兴,苗志宏,王加银.四级倒立摆的变论域自适应模糊控制[J].中国科学[E辑].2002,32(1)：65-75.
[80]李洪兴,苗志宏,王加银.非线性系统的变论域稳定自适应模糊控制[J].中国科学[E辑].2002,32(2)：65-75.
[81]闫壁重.核电站反应堆厂房环形起重机电控系统[J].重工与起重技术,2009,23(3)：27-28.
[82]张.PLC控制网络的远程电气故障诊断[D].武汉：武汉理工大学,2005(5).
[83]史定华,王松瑞.故障树分析技术方法和理论[M].北京：北京师范大学出版社,1993.
[84]王福绵.十年起重伤害事故的分析[J].起重运输机械,1989,(12)：41-43.
[85]陈宇.高可靠容错实时系统的支撑技术研究[D].成都：电子科技大学,2002(5).
[86]赵力成.聚合物配制站自动化控制系统设计及实现[D].哈尔滨：黑龙江大学,2004.
[87]李东晖.数字激光散斑位移测量和跟踪技术研究[D].合肥：中国科学技术大学,2006.
[88]张良国,吴江琴,高文等.基于Hausdorff距离的手势识别[J].中国图像图形学报,2012,7(A)：1-8,,
[89]刘江华,陈佳品.用于人机交互的静态手势识别系统[J].红外与激光工程,2002,(6)：499-503.
[90]贾建军.基于视觉的手势识别技术的研究[D].哈尔滨：哈尔滨工业大学,2008.
[91]Wilson,Andrew D. Bobick,Aaron F. Parametric hidden Markov models for gesture recognition[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,1999,21(9):884-900.
[92]覃文军.基于视觉信息的手势识别算法与模型研究[D].沈阳：东北大学,2010.
[48]江立,阮秋琦.基于神经网络的手势识别技术的研究[J].北京交通大学学报,2006,30(5)：32-36..
[93]Argyros, Antonis A.Lourakis, Manolis I.A.Vision-based interpretation of hand gestures for remote control of a computer mouse[C]//ECCV 2006 Workshop on HCI,Graz,Austria:IEEE,2006:40-51.
[94]杨青.手势识别技术的研究[D].大连：大连理工大学,2010.
[2]赵德安,张宝余,马莉明等.核废料固化物库自控吊车控制系统的研制[J].电气传动,1999,4(3)：34-37.
[3]卜广强等.核电站起重机面临的问题及其对策[J].起重运输机械,2010(4)：5-10.
[4]穆兆辉.PMC系统换料机整体设计和传输系统改造[D].大连：大连理工大学,2008(6)：13-14.
[5]赵德安,张宝余,周云华.核废料固化物库自控吊车控制系统的研制[J].电气传动,1999(3)：34-37.
[6]王志刚.桥式起重机自控系统设计及关键技术研究[D].西安：长安大学,2009(12)：2-3.
[7]栾秀春,韩伟实,王俊玲等.核废料吊车高精度自动定位的技术实现[J].中国工程科学,2010(12)：45-50.
[8]赵德安,孙月平等.核电站核废物库新型数控遥控吊车[J].高科技与产业化,2009(9)：78-80.
[9]李晓冬,奚树人.核电站机组故障诊断系统的知识获取[J].核科学与工程,2003,23(4)：300-305.
[10]闫修平.反应堆冷却剂系统分布式故障诊断技术研究[D].哈尔滨：哈尔滨工程大学,2008(3)：11-12.
[11]钱华明.故障诊断与容错技术及其在组合导航系统中的应用研究[D].哈尔滨：哈尔滨工程大学,2004(5)：34-35.
[12]Benoist B.Expert system for the characterization of defect signals in steam generator tubes[J].Engineering Application of Artificial Intelligence,1995, 8(3):309-318.
[13]Sohn,Se Do.Testing digital safety system software with a testability measure based on a software fault tree[J].Reliability Engineering and System Safety,1996, 91(1):44-52.
[14]Peplow,Douglas E. Calculating nuclear power plant vulnerability using integrated geometry and event/Fault-Tree models[J].Nuclear Science and Engineering,2004,146(1):71-87.
[15]Durga Rao,K;Gopika,V.Dynamic fault tree analysis using Monte Carlo simulation in probabilistic safety assessment[J].Reliability Engineering and System Safety,2009,94(4):872-883.
[16]周春娟.基于故障树的反应堆故障诊断[D].上海：上海交通大学,2009(1)：78-82.
[17]郭强,赵新文.船用核反应堆余热排出系统的可靠性分析[J].中国修船,2008(5)：38-41.
[18]华小洋.核电站搬运核废料起重机的故障树分析[J].中国安全科学学报,2002(12)：5-9.
[19]Click,I;Kuzma,M. Heavy load drop analysis within low power and reactor shutdown PSA for mochovce NPP[C]//American Nuclear Society-International Congress on Advances in Nuclear Power Plants 2005.St.Seoul,Korea,Republic of:American Nuclear Society,2005:106-113.
[20]杨林芳.无人机容错飞行控制系统研究[D].南京：南京航空航天大学,2007(1)：13-14.
[21]G.Tao,S.M.Joshi,X.L.Ma. Adaptive Actuator failure compensation designs for linear systems [J].International Journal of Control,2002,46(1):78-95.
[22]Halim Alwi,Christopher Edward,fault-tolerant control using sliding modes with on-line control allocation[J].Automatica,2008,44(7):1859-1866.
[23]陈雪芹,张迎春,耿云海等.基于LMI的鲁棒容错控制及其在卫星姿态控制中的应用[J].控制理论与应用,2008,25(1)：95-99.
[24]Huang CY, Stengel R F.Restructurable control using proportional-integral implicit model following[J].Journal of Guidance Control and Dynamics,1990,13(6):303-309.
[25]Doman D B,Ngo A D.Dynamic inversion-based adaptive/reconfigurable control of the X-33 on ascent[J] Journal of Guidance Control and Dynamics,2002,25(2):275-284.
[26]Hess R A,Wells S R. Sliding mode control applied to reconfigurable flight contrl design[J]. Journal of Guidance Control and Dynamics,2003,26(3):452-462.
[27]袁芳,叶银忠,朱大奇.基于RCMAC的水下机器人容错控制方法研究[J].华中科技大学学报,2009,37(1)：147-150.
[28]颜明重,刘乾,朱大奇.基于神经网络的水下机器人容错控制方法与实验研究[J].船海工程,2009,38(5)：138-141,161.
[29]林吉良.移动机器人故障诊断与容错控制的研究[D].杭州：浙江大学,2009(7)：24-27.
[30]陈雪芹,张迎春,耿云海等.基于控制有效性因子的卫星姿态控制系统在轨重构容错控制[J].宇航学报,2007,28(1)：94-98.
[31]Srichander R,Walker B K. Stochastic Stability analysis for continuous-time fault tolerant control systems[J].Internal Journal of Control,1993,57(3):433-452.
[32]朱大奇,陈亮,刘乾.一种水下机器人传感器故障诊断与容错控制方法[J].控制与决策,2009,24(9)：1335-1339.
[33]蒋理,陈树广.基于模糊控制的桥式起重机定位防摆研究[J].计算机仿真,2009,26(6)：179-182.
[34]王玥媛.基于模糊控制的桥式起重机防摆研究[D].大连：大连理工大学,2008(12)：9-10.
[35]卢志强.桥式起重机智能控制器的设计与防摆研究[D].上海：华东交通大学,2009(10)：10-11.
[36]Yang Jung Hua.Adaptive Coupling Control for Overhead Crane Systems[J].Mechatronics,2005,2(1):1858-1863.
[37]Butler,Hans,Honderd,Ger.Model reference adaptive control of a gantry crane scale model [J].IEEE Control Systems Magazine.1991,11(1):57-62.
[38]Dominik Schindele,Ingolf Menn. Nonlinear Optimal Control of an Overhead Travelling Crane[C]//2009 IEEE International Conference on Control Applications.St.Petersburg,Russia:IEEE,2009:1045-1050.
[39]Auernig,J.W,Troger,H. Time optimal control of overhead cranes with hoisting of the load[J]. Automatica,1987,23(4):437-447.
[40]Marttinen,Arto. Control study with a pilot crane[J],IEEE Transactions on Education,1998,33(3):298-305.
[41]Yesildirek,Aydin.Anti-swing Control of Underactuated Overhead Crane System Using Multiple Lyapunov Functions[C]//2011 IEEE International Conference on Mechatronics and Automation. Beijing, China:IEEE,2011:428-432.
[42]Toxqui Rigoberto,Wen Yu.Anti-swing Control for Overhead Crane with Neural Compensation[C]//IEEE International Conference on Neural Networks. Vancouver,BC,Canda:IEEE,2006:4697-4703.
[43]Solihin Mahmud Iwan.Objective Function Seletion of GA-based PID Control Optimization for Automatic Gantry Crane[C]//Proceeding of the International Conference on Computer and Communication Engineeing.Kuala Lumpur,Malaysia:ICCCE,2008:883-887.
[44]Solihin Mahmud Iwan,Wahyudi. Fuzzy-tuned PID Anti-swing Control of Automatic Gantry Crane[J].Journal of Vibration and Control.2010,16(4):127-145.
[45]Wang Zhenyan,Chen Zhimei.On PSO Based Fuzzy Neural Network Sliding Mode Control for Overhead Crane[J].Advances in Intelligent and Soft Computing,2011,12(5):563-572.
[46]Suzuki,Yuzo,Yamada,Shin-ichi.Anti-swing Control of the container crane by fuzzy control[C]//Proceedings of the 19th International Conference on Industrial Electronics, Control and Instrumentation.Maui,Hawaii,USA:IECON Proceedings,1993:230-235.
[47]Moustafa,K.A.F. Fuzzy control of flexible cable overhead cranes with load hoisting[J].Transactions of the Institute of Measurement and Control,2006,28(4):371-386.
[48]Omar,H.M,Nayfeh,A.H.Anti-swing control of gantry and tower cranes using fuzzy and time-delayed feedback with friction compensation[J].Shock and Vibration.2005,12(2):73-89.
[49]Trabia Mohamed B,Renno Jamil.Generalized Design of an Anti-swing Fuzzy Logic Controller for an Overhead Crane with Hoist[J].Journal of Vibration and Control.2011,3(14):319-346.
[50]王晓军,邵惠鹤.基于模糊的桥式起重机的定位和防摆控制研究[J].系统仿真学报,2005,17(4)：936-939.
[51]赵明辉.起重机智能防摆控制方法研究[D].太原：太原科技大学,2010.
[52]Ye Ding,Jin Wei. Study on Overhead Crane Anti-swing System with Self-adjustable Fuzzy Control[C]//International Conference on Measuring Technology and Mechatronics Automation, Sanya China:IEEE,2012:1050-1053.
[53]Wang,Pengcheng,Fang,Yongchun.Adaptive Sliding-mode Fuzzy Control of an Overhead Crane System for Hoisting and Lowering Process[J].Zhongnan Daxue Xuebao,2011,42(1):90-96.
[54]王克琦.桥式起重机的定位和防摆控制研究[J].系统仿真学报,2007,19(8)：1799-1802.
[55]林威汉,高春光,张海涛.国内组态软件的现状与未来[J].电气时代,2002,(2)：9-12.
[56]巫影,何琳,黄映云等.虚拟现实技术综述[J].计算机与数字工程,2002,30(3)：41-44.
[57]胡小锋,李育平,杨国栋.液晶显示技术在塔机监控系统的应用[J].建筑机械化,2001,.
[58]黄奕翔,周俊,刘成良.基于WebGIS/GPRS/GPS的设备远程监控系统[J].计算机工程,2007,.33(3)：225-227.
[59]徐涛,李彦明,苗玉斌,刘成良.港口机械远程虚拟监控系统研究[J].计算机工程,2008,.34(21)：276-278.
[60]李超,李彦明,刘成良.塔式起重机3D远程虚拟监控[J].上海交通大学学报,2009,.43(11)：1689-1697.
[61]吴晓,丁国富,程文明.危险环境中的虚拟远程作业系统实验仿真[J].计算机工程与应用,2005,(35)：19-22.
[62]丁国富,周俊波,李涛,刘伯兴.结合VR技术的远程操作装卸不安全货物的仿真[J].交通运输工程与信息学报,2004,(1)：57-60.
[63]张倩倩.数控起重机作业管理控制系统设计与实现[D].成都：西南交通大学,2012.
[64]徐宏伟.核电站起重机电动机容量的选择[J].机械工程师,2009,(7)：150-152.
[65]吴其华,徐邦荃.多电机同步传动控制系统分析[J].兵工自动化.2003,22(1)：20-24.
[66]G.Turl,et al.A Multi-Induction-Motor drive stategy operation in the sensorless mode[J].Industry Applications Conference,2001,2(30):1232-1239.
[67]刘福才,张学莲.多级电机传动系统同步控制理论与应用研究[J].控制工程,2002,9(4)：87-89.
[68]M.A.Valenzuela,et al.Electronic Line-Shafting control for paper machine drives [J].Pulp and Paper Industry Technical Conference,2000:158-164.
[69]戴明宏.起重机变频调速控制系统的设计与研究[D].成都：西南交通大学,2004.
[70]杨雁,王云宽,宋英华.基于FPGA的数控加减速控制器的设计[J].制造技术与机床,2007,(6)：31-34.
[71]张振华.数控系统加减速算法及定位技术研究[D].大连：大连理工大学,2007.
[72]陈则煌.基于CPLD的平网印花机控制系统的研制[D].杭州：浙江大学,2012.
[73]郝晓弘,胡振邦,朱洁,秦睿.输电线路除冰机器人的S形曲线加减速算法设计[J].电网技术,2011,35(6)：196-199.
[74]李洪兴.变论域自适应模糊控制器[J].中国科学E辑,1998,28(3)：32-42.
[75]胡韶华.桥式吊车防摆控制技术研究[D].沈阳：沈阳工业大学,2006(3)：16-17.
[76]钟斌.基于吊重防摆的起重机快速对位关键技术研究[D].成都：西南交通大学,2007(11)：26.
[77]郑宏,徐红兵,朱贵平.变论域自适应模糊控制在航机发电中的应用[J].控制理论与应用,2008,(4)：253-256.
[78]黄凯.起重机自适应智能防摆控制方法及其仿真研究[D].南京：南京林业大学,2007.
[79]李洪兴,苗志宏,王加银.四级倒立摆的变论域自适应模糊控制[J].中国科学[E辑].2002,32(1)：65-75.
[80]李洪兴,苗志宏,王加银.非线性系统的变论域稳定自适应模糊控制[J].中国科学[E辑].2002,32(2)：65-75.
[81]闫壁重.核电站反应堆厂房环形起重机电控系统[J].重工与起重技术,2009,23(3)：27-28.
[82]张.PLC控制网络的远程电气故障诊断[D].武汉：武汉理工大学,2005(5).
[83]史定华,王松瑞.故障树分析技术方法和理论[M].北京：北京师范大学出版社,1993.
[84]王福绵.十年起重伤害事故的分析[J].起重运输机械,1989,(12)：41-43.
[85]陈宇.高可靠容错实时系统的支撑技术研究[D].成都：电子科技大学,2002(5).
[86]赵力成.聚合物配制站自动化控制系统设计及实现[D].哈尔滨：黑龙江大学,2004.
[87]李东晖.数字激光散斑位移测量和跟踪技术研究[D].合肥：中国科学技术大学,2006.
[88]张良国,吴江琴,高文等.基于Hausdorff距离的手势识别[J].中国图像图形学报,2012,7(A)：1-8,,
[89]刘江华,陈佳品.用于人机交互的静态手势识别系统[J].红外与激光工程,2002,(6)：499-503.
[90]贾建军.基于视觉的手势识别技术的研究[D].哈尔滨：哈尔滨工业大学,2008.
[91]Wilson,Andrew D. Bobick,Aaron F. Parametric hidden Markov models for gesture recognition[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,1999,21(9):884-900.
[92]覃文军.基于视觉信息的手势识别算法与模型研究[D].沈阳：东北大学,2010.
[48]江立,阮秋琦.基于神经网络的手势识别技术的研究[J].北京交通大学学报,2006,30(5)：32-36..
[93]Argyros, Antonis A.Lourakis, Manolis I.A.Vision-based interpretation of hand gestures for remote control of a computer mouse[C]//ECCV 2006 Workshop on HCI,Graz,Austria:IEEE,2006:40-51.
[94]杨青.手势识别技术的研究[D].大连：大连理工大学,2010.