基于卡尔曼滤波器的吊车消摆定位滑模控制  

Sliding Mode Control of Crane Anti-sway Positioning Based on Kalman Filter

作　　者：余驿 肖友刚[1,2] 朱铖臻 童俊豪 YU Yi;XIAO You-gan;ZHU Cheng-zhen;TONG Jun-hao(School of Traffic and Transportation Engineering,Central South University,Changsha 410075,China;Joint International Research Laboratory of Key Technology for Rail Traffic Safety,Central South University,Changsha 410075,China)

机构地区：[1]中南大学交通运输工程学院,湖南长沙410075 [2]中南大学轨道交通安全关键技术国际合作联合实验室,湖南长沙410075

出　　处：《控制工程》2021年第6期1049-1054,共6页Control Engineering of China

基　　金：国家自然科学基金资助项目(51275531)。

摘　　要：为解决持续和大幅值突变两种不同类型的外部扰动对欠驱动吊车工作的影响,同时考虑了系统噪声和量测噪声,提出一种基于扩展卡尔曼滤波器和滑模控制结合的复合控制方案。该控制方案先利用扩展卡尔曼滤波器估计吊车系统真实状态量的变化,减少干扰对系统的影响,达到减小滑模控制中切换增益的目的,有效抑制滑模控制中的抖振现象,再结合滑模控制进一步提高系统的鲁棒性和抗干扰能力。仿真和实验结果表明,在处理不同类型的干扰时,设计的控制方案能够通过调整卡尔曼滤波器增益自适应调整控制系统参数,有效抑制了滑模控制的抖振问题,降低了噪声和干扰对系统影响的敏感度,提高了系统的鲁棒性和抗干扰能力。In order to solve the influence of two different types of external disturbances imposed on the underactuated crane,which are continuous and sudden large amplitude changes,and considering the system noise and measurement noise,a complex control scheme based on the combination of the extended Kalman filter and the sliding mode control is proposed in this paper.Firstly,the extended Kalman filter is used to estimate the change of the real state of the crane system,reduce the influence of the disturbance on the system,achieve the purpose of reducing the switching gain in the sliding mode control,effectively suppress the chattering phenomenon in the sliding mode control,and then combined with the sliding mode control to further improve the robustness and anti-disturbanceability of the system.The simulation and experimental results show that the control scheme designed in this paper can adaptively adjust the parameters of the control system by adjusting the Kalman filter gain,effectively suppress the chattering problem of the sliding mode control,reduce the sensitivity of noise and interference to the system,and improve the robustness and anti-disturbance ability of the system.

关 键 词：欠驱动吊车 扩展卡尔曼滤波器 滑模控制 自适应调整 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]