基于LQR算法的三维桥式吊车定位及防摆控制研究  

Research On the Positioning And Anti-swing Control Of Three-dimension Bridge Crane Based On LQR Algorithm

作　　者：刘保朝[1] 贾红雨[2] 陈能祥 Liu Baochao1 , Jia Hongyu2 , Chen Nengxiang3(1. Shaanxi Polytechnic Institute, Xianyang 712000, China; 2. Zhengzhou University of Light Industry, Zhengzhou 450002, China; 3. Shenzhen Reinovo Technology CO. , Ltd. , Shenzhen 518055, Chin)

机构地区：[1]陕西工业职业技术学院,陕西咸阳712000 [2]郑州轻工业学院,郑州450052 [3]深圳市元创兴科技有限公司,广东深圳518055

出　　处：《计算机测量与控制》2018年第6期89-93,共5页Computer Measurement &Control

摘　　要：首先采用牛顿力学方法建立了三维桥式吊车的非线性动力学模型,然后将其在平衡点处进行线性化,得到系统在X方向和Y方向完全解耦的状态空间方程;根据现代控制理论设计了系统的线性二次最优调节器(LQR)并进行SIMULINK仿真,最后利用C++语言和MATLAB混合编程技术实现控制界面,系统控制量计算及下发由多媒体定时器中断服务函数周期性完成,自主搭建了一套三维桥式吊车实验平台;系统成功实现运动范围内的定位及防摆控制,仿真及实验结果表面建立三维桥式吊车解耦模型的合理性与控制算法的有效性。First,The nonlinear dynamic model of three-dimensional bridge crane is established by Newtonian mechanics,then linearization at the equilibrium point,get the system in the X direction and Y direction completely decoupled state space equation.According to the theory of modern control design of the system of linear quadratic optimal regulator（LQR）and SIMULINK simulation,Finally,using the C＋＋language and MATLAB hybrid programming technology to realize the control interface,the system control volume calculation and the lower issue are performed periodically by the multimedia timer service function,independently set up a set of 3 dbridge crane experiment platform.The system successfully realizes the positioning and anti-swing control in the motion range,and the simulation and experimental results show the rationality of the decoupling model of the three-dimension bridge crane and the validity of the control algorithm.

关 键 词：三维桥式吊车 建模 解耦 LQR 控制程序 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]