动基座桥式起重机滑模自抗扰消摆跟踪控制  

Anti-swing tracking control of mobile base overhead crane based on sliding mode active disturbance rejection

作　　者：杜文正 张全茂 何祯鑫 DU Wen-zheng;ZHANG Quan-mao;HE Zhen-xin(School of Missile Engineering,Rocket Force University of Engineering,Xi'an 710025,China)

机构地区：[1]火箭军工程大学导弹工程学院,陕西西安710025

出　　处：《机电工程》2022年第2期150-157,共8页Journal of Mechanical & Electrical Engineering

基　　金：陕西省自然科学基金资助项目(2019JQ-491)。

摘　　要：浮式桥式起重机吊运作业易受动基座运动的影响,属于一类动基座桥式起重机,为实现精准、快速、小摆动地将负载运送至指定位置,提出了一种基于滑模自抗扰控制(SM-ADRC)的动基座桥式起重机消摆跟踪控制方法。首先,推导了浮式桥式起重机系统的动力学模型;构造了线性扩张状态观测器(LESO),设计了具有小车运动轨迹跟踪和负载消摆功能的鲁棒滑模自抗扰控制器,很好地适应了动基座和起重机复合运动引起的强扰动作用;然后,采用Lyapunov原理理论证明了控制器的稳定性;最后,通过数值仿真实验验证了所提方法的控制效果。研究结果表明:相比普通滑模控制(SMC)方法,滑模自抗扰控制方法对小车位置的控制时间减少了3 s,对负载摆角的控制时间减少了10 s,控制精度和鲁棒性也较普通滑模控制有所提升;该控制方法可满足浮式桥式起重机系统对控制性能的要求。The lifting operation of floating overhead crane was easily affected by the movement of mobile base,which belonged to a kind of mobile base overhead crane.In order to transport the load to the specified position accurately,quickly and with small swing,a swing elimination tracking control method of mobile base overhead crane based on sliding mode-active disturbance rejection control(SM-ADRC)was studied.Firstly,the dynamic model of mobile base overhead crane system was deduced.Two linear extended state observers(LESO)were constructed,and a robust sliding mode active disturbance rejection controller with the functions of trolley trajectory tracking and load swing elimination was designed,which could well adapt to the strong disturbance caused by the combined motion of mobile base and crane.Then,the stability of the controller was proved by Lyapunov principal theory.Finally,the control effect of the proposed method was verified by numerical simulation experiments.The results show that comparing with the ordinary sliding mode control(SMC)method,the sliding mode active disturbance rejection control method reduces the control time of the trolley position by 3 s and the control time of the load swing angle by 10 s.The control accuracy and robustness are also improved comparing with the ordinary sliding mode control method,which meets the requirements of the floating bridge crane system for the control performance.

关 键 词：动基座起重机 桥式起重机 消摆控制 滑模自抗扰控制 线性扩张状态观测器 

分 类 号：TH215[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]