非匹配扰动下双吊具起升系统的同步控制  

Synchronization Control for Dual-container Lifting System with Mismatched Disturbances

作　　者：赵微微 徐为民 袁贺松 黄金玲 胡益彬 ZHAO Wei-wei;XU Wei-min;YUAN He-song;HUANG Jin-ling;HU Yi-bin(Institute of Logistics Science and Engineering,Shanghai Maritime University,Shanghai 201306,China)

机构地区：[1]上海海事大学物流科学与工程研究院,上海201306

出　　处：《控制工程》2022年第7期1187-1194,共8页Control Engineering of China

基　　金：上海市科委创新计划项目(10110502600);上海市重点学科(S30602);上海市教委科研创新项目(20110527)。

摘　　要：针对具有非匹配扰动的双吊具起升系统的同步协调控制问题,提出一种基于时变扩张状态观测器的移动滑模控制方法。首先,结合交叉耦合控制策略,提出了一种移动滑模控制器,可保证系统在初始状态下具有较好的鲁棒性。其次,设计了一种自适应切换律和趋近律,该方法不仅实现了系统状态误差的快速收敛,同时可有效抑制滑模控制器中存在的抖振现象。在此基础上,为抑制系统中存在的非匹配扰动,设计了一种新型的时变扩张状态观测器,使所提控制器对非匹配扰动也具有较好的鲁棒性。此外,利用李雅普诺夫理论证明了闭环控制系统的稳定性。最后,通过仿真验证了所提控制器的有效性和可靠性。To solve the problem of synchronization control for dual-container lifting system with mismatched disturbances,a moving sliding mode control method based on time-varying extended state observer is presented.First,a moving sliding mode controller is proposed by employing cross-coupling control strategy,which can ensure the good robustness of the system in initial state.Then,a novel reaching law and adaptive switching law are employed to achieve fast convergence of the system state errors and restrain the chattering in the sliding mode controller.For the compensation of mismatched disturbances,a novel time-varying extended state observer is designed,which makes the proposed controller robust to mismatched disturbances.Additionally,the stability of the closed-loop control system is proved by using the Lyapunov theory.Finally,the simulation results show the effectiveness and reliability of the proposed controller.

关 键 词：双吊具 同步控制 移动滑模面 扩张状态观测器 非匹配扰动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]