最优控制在吊车数控系统中的应用  

Application of Optimal Control in the Crane Digital Control System

作　　者：张丽[1] 朱珠[2] 

机构地区：[1]江苏盐城工业职业技术学院机电工程学院,江苏盐城224000 [2]贵州理工学院电气工程学院,贵州贵阳550001

出　　处：《机床与液压》2015年第19期51-55,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(60603089)

摘　　要：由于最优二次型调节器(Linear Quadratic Regulator,LQR)具有调节精度高和控制消耗少的综合控制优势,将离散LQR引入到吊车数控系统的设计中,用以实现吊车单摆快速返回平衡位置。建立了吊车系统的连续状态空间方程及其对应的离散状态空间方程。针对吊车系统的离散数学模型,利用LQR最优控制理论,设计了直流伺服电机的控制策略。计算机仿真结果表明:相比传统的极点配置方法,LQR控制方法可实现吊车单摆更加快速和更加精确的调节,并且避免了复杂的参数调节过程,故易于工程实现。Because linear quadratic regulator( LQR) possesses the comprehensive control properties with respect to high precision regulation and small control consumption,it was introduced into the design of crane digital control system,in order to realize the single pendulum of crane quickly return to balance position. The continuous space-state equation and the corresponding discrete one of the crane system were established respectively. According to the discrete state-space model of the crane system,the control strategy of servo DC motor was designed by using LQR optimal control theory. Computer simulation results present that compared to conventional poles replacement method,the LQR method can realize more faster and more accurater regulation to the single pendulum of crane,and the proposed method can also avoid the complicated process of parameter regulations,therefore it is easy to be implemented in engineering.

关 键 词：吊车数控系统 伺服电机 最优控制 离散控制 LQR 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]