负载升降及干扰工况下桥式吊车微分平坦跟踪控制  

Differential-flatness-based tracking control for overhead crane with load hoisting/lowering and disturbance

作　　者：肖友刚[1,2] 王辉堤 李蔚[1,2] 韩锟[1,2] XIAO Yougang;WANG huidi;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：《中南大学学报（自然科学版）》2022年第7期2476-2486,共11页Journal of Central South University:Science and Technology

基　　金：湖南省自然科学基金资助项目(2021JJ30847)。

摘　　要：在桥式吊车作业过程中,负载升降使吊绳长度转变为状态变量,极易导致负载大幅摆动。为使吊车系统平稳安全高效运行,利用sigmoid函数构造光滑连续且包含加速、匀速、减速全过程、高阶可微、能满足实际物理约束的新型加速度轨迹;根据微分平坦理论,将台车位移与负载摆动复合,构建负载升降工况下的微分平坦输出模型。为保证平坦输出变量沿着期望参考轨迹平稳运行,设计轨迹跟踪控制器,实现升降工况下负载摆角和位移的一体化控制。为提高系统抵抗参数摄动、外部干扰的能力,将扩张状态观测器嵌入到微分平坦控制器中,以观测和补偿系统的总和扰动,并对该控制器的稳定性进行理论分析。研究结果表明:吊车微分平坦跟踪控制能在负载升降及干扰工况下,使负载沿着期望轨迹快速到达目标位置,并有效抑制负载运输过程中的摆动。With load hoisting/lowering,the rope length will change,which makes the load swing significantly during load transportation by overhead crane.To make the crane system run smoothly,safely and efficiently,the Sigmoid function was used to design a novel acceleration trajectory,which was smooth and continuous in the whole process and could meet the actual physical constraints.According to differential flatness theory,the trolley displacement and load swing were integrated as a flatness output model of overhead crane with load hoisting/lowering.To ensure that the flat output variable runs smoothly along the desired reference trajectory,an anti-swing trajectory tracking controller was designed,which could control the trolley displacement,load hoisting/lowering,and load swing simultaneously.To improve the system's ability to resist parameter perturbation and external disturbances,the extended state observer(ESO)was used to estimate and compensate for the lumped disturbances,and its stability was strictly proved.The results show that the differential flatness tracking control can make the load quickly reach the target position along the desired trajectory and restrain the load swing effectively under the condition of disturbance and load hoisting/lowering.

关 键 词：桥式吊车 轨迹跟踪 微分平坦 扩张状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]