一类受噪声干扰的直流电机驱动的桥式吊车系统的轨迹跟踪  

Random Modeling and Trajectory Tracking of a Class of Bridge Crane Driven by DC Motors

作　　者：李明超 崔明月 LI Ming-chao;CUI Ming-yue(School of Mathematics and Informational Sciences,Yantai University,Yantai 264005,China)

机构地区：[1]烟台大学数学与信息科学学院,山东烟台264005

出　　处：《烟台大学学报（自然科学与工程版）》2020年第3期256-263,共8页Journal of Yantai University(Natural Science and Engineering Edition)

基　　金：国家自然科学基金资助项目(61503318);山东省自然科学基金资助项目(ZR2014FQ017).

摘　　要：对于在随机振动环境下的一类由直流电机驱动的桥式吊车系统,本文主要研究了随机建模和轨迹跟踪问题.根据动静法和等效电路,将环境中的随机振动和电路中的热噪声合理地引入到系统中,从而建立随机模型.基于所建立的模型,利用向量式的Backstepping的方法和将噪声分离出来的技术,设计了一个跟踪控制器使闭环系统是依概率噪声到状态稳定(NSS-P),跟踪误差的二阶矩可以通过调节参数达到任意小.仿真实验结果验证了控制策略的有效性.The problem of random modeling and trajectory tracking are discussed for a kind of bridge crane system driven by DC motors in random vibration environment.According to the dynamic and static method and the equivalent circuit,the random vibration in the environment and the thermal noise in the circuit are reasonably introduced into the system,so as to the random model is established.Based on the model,a tracking controller is designed such that the closed-loop system is noise-to-state stable in probability(NSS-P)by using the method of vector Backstepping and the technology of separating the noise.The second-order moment of tracking error can be arbitrarily small by adjusting the parameters.The simulation results verify the effectiveness of the control strategy.

关 键 词：直流电动机 跟踪 有色噪声 热噪声 BACKSTEPPING 

分 类 号：O231.3[理学—运筹学与控制论]