基于光滑整形自抗扰的双摆起重机消摆控制  

Anti-swing control of double-pendulum crane based on command smoothing and active disturbance rejection control

作　　者：王辉堤 肖友刚[1,2] 李蔚[1,2] 韩锟[1,2] WANG Huidi;XIAO Yougang;LI Wei;HAN Kun(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：《铁道科学与工程学报》2022年第3期831-840,共10页Journal of Railway Science and Engineering

基　　金：湖南省自然科学基金资助项目(2021JJ30847)。

摘　　要：为解决无负载摆角传感器的双摆桥式起重机消摆时间长、定位精度不高、抗干扰能力差的问题,提出一种光滑整形与自抗扰控制相结合的双摆起重机防摆控制方法。针对传统梯形速度轨迹对双摆起重机冲击较大的问题,利用光滑整形技术对梯形速度轨迹进行光滑整形,得到平滑的运行速度轨迹,以保障系统平稳运行。对双摆起重机的动力学模型进行变换,得到包含总扰动及未知负载摆角的台车运动及负载摆动的状态方程。为了抑制总扰动对台车运动、负载摆动的影响,实现无负载摆角传感器情况下的负载状态反馈,设计扩张状态观测器分别对台车运动回路、负载摆动回路的总扰动进行估计并补偿,对负载摆角进行实时观测并反馈到前端对负载动态进行控制,进而形成了桥式起重机定位消摆双通道自抗扰闭环控制器,并对闭环系统的稳定性进行了严格的理论证明。仿真结果表明:所设计的扩张状态观测器组能够对台车运动及负载摆动的总扰动进行准确估计,对负载摆角进行实时观测,所设计的混合控制策略在模型参数发生变化和外扰作用下可全过程平稳将吊重搬运到目标位置,且能有效地抑制负载摆动。To solve the problem of long anti-swing time, low positioning accuracy and poor anti-disturbance ability of double-pendulum overhead crane without payload swing angle sensor, the smooth shaping technology and active disturbance rejection control were integrated as an anti-swing control method for double-pendulum crane. Firstly, aiming at the large impact of traditional trapezoidal speed trajectory on the double swing crane, the trapezoidal speed trajectory was smoothly shaped by using the smooth shaping technology, which can ensure the smooth operation of double-pendulum crane. Secondly, the dynamic model of double-pendulum crane was transformed to obtain the state equations of trolley motion and load swing, which included total disturbance and unknown load swing angle. In order to suppress the influence of total disturbance on trolley motion and load swing and realize load state feedback without load swing angle sensor, three extended state observers were designed to estimate and compensate the total disturbance of trolley motion and load swing. This aimed to observe the load swing angle in real time and feed it back to the front end to control the load dynamics,respectively. Then a dual-channel active disturbance rejection controller for positioning and anti-swing of bridge crane was formed, and the stability of the closed-loop system were strictly proved in theory. The simulation results show that the designed observers can estimate the total disturbance of trolley motion and payload swing accurately, and observe payload swing angle in real time, and the designed hybrid control strategy can smoothly transport the payload to the target position under the change of model parameters and external disturbance, and suppress payload swing effectively.

关 键 词：双摆桥式起重机 光滑整形 消摆 自抗扰控制 摆角估计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]