欠驱动桥式吊车消摆跟踪控制  

Antiswing tracking control for underactuated bridge cranes

作　　者：孙宁[1,2] 方勇纯[1,2] 陈鹤[1,2] 

机构地区：[1]南开大学机器人与信息自动化研究所,天津300071 [2]南开大学天津市智能机器人技术重点实验室,天津300071

出　　处：《控制理论与应用》2015年第3期326-333,共8页Control Theory & Applications

基　　金："十二五"国家科技支撑计划课题项目(2013BAF07B03);国家杰出青年科学基金项目(61325017);国家自然科学基金项目(11372144)资助~~

摘　　要：对于桥式吊车系统而言,其控制目标是将货物快速、精确、摆动尽可能小地运送到目标位置.为此,本文提出了一种新型的轨迹跟踪控制策略,可在保证负载快速平稳运送的同时,有效地抑制并消除整个过程中负载的摆动.具体而言,通过对吊车动力学模型进行一系列的变换,设计了一种新颖的跟踪控制器,并对闭环系统信号的有界性与收敛性进行了理论分析.与调节控制方法相比,本文方法可保证台车的平滑启动与运行;此外,本方法放宽了已有轨迹跟踪控制方法对参考轨迹的约束条件,更具实用性与一般性.实验结果表明,本文设计的控制器能取得优于已有方法的控制效果,并对外界干扰具有很强的鲁棒性.The control objective for bridge crane systems is to transport cargos to the desired location rapidly and accurately, with the cargo swing being as small as possible. Motivated by the desire to tackle this problem, we present a new swing elimination tracking control approach in this paper to achieve smooth payload transferring while simultaneously attenuating unexpected swing. In particular, some model transformation operations are performed for the crane dynamics, and then a novel tracking controller is designed, on the basis of which some theoretical analysis is implemented to show the boundedness and convergence of the closed-loop signals. In comparison with regulation controllers, the proposed method can ensure smoother trolley motion, and moreover, it relaxes some constraints imposed on reference trajectories, which are usually required by most existing tracking strategies. Hardware experiment results are included to illustrate that the designed controller achieves improved performance than existing methods and shows strong robustness with respect to extraneous disturbances.

关 键 词：欠驱动系统 吊车 防摆控制 非线性系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]