一种基于改进指令整形的四旋翼吊装负载摆动抑制  

Load swing suppression of quadrotor slung system based on improved command shaping

作　　者：霍鑫[1] 刘清泉[1] 李晨星 HUO Xin;LIU Qing-quan;LI Chen-xing(Control and Simulation Center,Harbin Institute of Technology,Harbin 150080,China;Department of Informatics,Technical University of Munich,Munich 80333,Germany)

机构地区：[1]哈尔滨工业大学控制与仿真中心,哈尔滨150080 [2]慕尼黑工业大学信息系,慕尼黑80333

出　　处：《控制与决策》2021年第8期1947-1954,共8页Control and Decision

基　　金：国家自然科学基金项目(61773138,61427809)。

摘　　要：指令整形是一种便捷的前馈控制方法,在工业领域已有许多应用.由于系统模型存在不确定性,且干扰难以避免,目前指令整形的研究热点是提高方法的鲁棒性,然而这在很大程度上增加了系统的保守性并使整形器参数整定更为复杂.因此,借鉴双模ZV整形方法和EI整形方法的思想,提出一种改进的VI指令整形方法.该方法包含4个脉冲,设计时在自然频率两侧选取两个虚拟频率,并依据振荡容忍极限指标对其进行调整,确定脉冲的幅值和作用时刻.与传统指令整形方法相比,所提出方法具有更强的鲁棒性和更高的振荡抑制水平,且参数整定的便捷程度得到了较大提升.针对四旋翼吊装系统,结合所提出的改进的VI指令整形方法,提出一种将指令整形器与双闭环控制相结合的控制结构,利用根轨迹法分析了闭环指令整形控制结构的稳定性,通过仿真验证了改进方法的有效性,并与其他整形方法进行比较,表明了改进方法的优越性.Command shaping is a convenient feedforward control method,which has been widely used in industry.Due to the uncertainty of the system model and the unavoidable interference,the current research focus of command shaping is to improve the robustness of the method,which leads to the increase of the conservatism of the system and the complexity of the parameter tuning of the shaper.In this paper,an improved VI shaping method,which consists of four pulses,is proposed based on the idea of the two-mode ZV shaping method and EI shaping method.In the design process,two virtual frequencies are selected on both sides of the natural frequency,which are adjusted according to the oscillation tolerance limit to determine the amplitude and the action time of the pulse.Compared with the traditional instruction shaping method,this shaping method has stronger robustness and higher level of oscillation suppression,and the convenience of parameter setting has been greatly improved.Combined with the improved command shaping method proposed in this paper,a control structure combining command shaper and double closed-loop control is proposed for the quadrotor slung system.The stability of closed-loop command shaping control structure is analyzed using the root locus method.Simulation verifies the effectiveness of this method,and compared with other shaping methods,it also shows its superiority.

关 键 词：四旋翼吊装系统 VI整形器 振荡抑制 鲁棒性 双闭环 变参数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]