欠驱动桥式吊车系统的非线性扩张状态观测器设计  

Design of Nonlinear Extended State Observer for Underdrive Overhead Crane System

作　　者：张桐松 邵雪卷[1] 张井岗[1] 赵志诚[1] 陈志梅[1] ZHANG Tongsong;SHAO Xuejuan;ZHANG Jinggang;ZHAO Zhicheng;CHEN Zhimei(School of Electronics Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024

出　　处：《自动化仪表》2022年第1期19-23,28,共6页Process Automation Instrumentation

基　　金：山西省自然科学基金资助项目(201901D111263);山西省研究生教改基金资助项目(2019JG165、2019JG173);太原科技大学博士启动基金资助项目(20202070)。

摘　　要：桥式吊车系统受到外部干扰会影响系统的整体性能,且小车速度、负载摆角角速度、绳长变化速度在工程实际中难以测量。为了获取这些变量的估计信息,以便进行闭环控制,针对变绳长桥式吊车系统设计了一种非线性扩张状态观测器。该观测器将桥式吊车系统的参数摄动和外部干扰等扰动因素扩张成新状态,利用小车位置、负载摆角和绳长信息进行状态重构,在线实时估计小车速度、负载摆角角速度、绳长变化速度以及扰动等状态信息,并对给出的非线性扩张状态观测器进行了稳定性证明。Matlab仿真结果表明,各状态变量均能在0.3 s左右得到收敛。与线性扩张状态观测器相比,非线性扩张状态观测器能够获得更小峰值的观测结果。External interference of overhead crane system can affect the overall performance of the system, and the trolley speed, load pendulum angular velocity and rope length change speed are difficult to measure in engineering practice. To obtain the estimation information of these variables for closed-loop control, a nonlinear extended state observer is designed for the variable rope long overhead crane system. The observer expands the disturbance factors such as parameter perturbation and external disturbance of the overhead crane system into a new state, reconstructs the state by using the information of trolley position, load pendulum angle and rope length, estimates the state information such as trolley speed, load pendulum angle speed, rope length change speed and disturbance online and in real time, and proves the stability of the given nonlinear extended state observer.Matlab simulation results show that each state variable can converge at about 0.3 s.Compared with linear extended state observer, nonlinear extended state observer can obtain observation results of smaller peak value.

关 键 词：变绳长 桥式吊车 非线性系统 扩张状态观测器 参数摄动 外部干扰 状态重构 实时估计 

分 类 号：TH215[机械工程—机械制造及自动化]