基于滑模自抗扰控制的变绳长塔机防摆控制  

Anti-sway control for changing rope length tower crane based on sliding mode active disturbance rejection control

作　　者：王祥 陈志梅[1] 邵雪卷[1] 张井岗[1] WANG Xiang;CHEN Zhi-mei;SHAO Xue-juan;ZHANG Jing-gang(School of Electronic 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：《机电工程》2023年第3期444-451,共8页Journal of Mechanical & Electrical Engineering

基　　金：山西省重点研发计划资助项目(202102020101013);山西省自然科技研究基金资助项目(201901D111263);太原科技大学博士研究基金资助项目(20202070)。

摘　　要：塔式起重机在实际应用中,由于绳长的变化会加剧负载(货物)的摆动,使得货物很难被快速、准确地运输到指定的位置。因此,为了对塔式起重机负载进行精确定位及防摆控制,提出了一种基于滑模自抗扰控制(SM-ADRC)的变绳长塔机防摆控制方法。首先,根据拉格朗日方程得出了系统的动力学方程,并依据动力学方程将系统分为了变幅、回转、提升3个子系统,并对每个子系统分别设计了线性扩张状态观测器(LESO),观测和补偿了对应回路中因参数变化、系统耦合及外界因素引起的未知总干扰;然后,结合滑模控制(SMC),设计了带有干扰补偿的非线性误差反馈控制律;最后,在MATLAB/Simulink中,在快速性、鲁棒性方面,对比分析了滑模控制方法与滑模自抗扰控制方法的控制性能。研究结果表明:相比于滑模控制方法,滑模自抗扰控制方法对塔机防摆控制时间缩短了25.5%,并且该方法不仅可以提高塔机的快速响应性能,而且具有较强的鲁棒性和自适应性,可以对塔式起重机负载进行精确定位及有效的防摆控制。In practical applications of tower cranes,due to the change of rope length,the swing of the load was aggravated,making it difficult to transport the goods to the designated position quickly and accurately.In order to achieve accurate load positioning and anti-swing control of tower crane,a novel anti-swing control method based on sliding mode active disturbance rejection control(SM-ADRC)for variable rope tower crane was proposed.Firstly,the dynamical equation of the system was derived from Lagrange equation.According to the dynamic equation,the system was divided into three sub-systems:luffing,turning and lifting.A linear extended state observer(LESO)was designed for each subsystem to observe and compensate for the unknown total disturbance caused by parameter changes,system coupling and external factors in the corresponding loop.Then,the nonlinear error feedback control law with disturbance compensation was designed in combination with sliding mode control(SMC).Finally,in MATLAB/Simulink,the control performance of sliding mode control method and sliding mode auto disturbance rejection control method was compared and analyzed in terms of rapidity and robustness.The research results show that the SM-ADRC method reduces the time of the tower crane anti-swing control by 25.5%compared with the sliding mode control.Comparing with the sliding mode control,not only the fast performance is improved,but also the robustness and adaptability are stronger,and the load of tower crane can be accurately positioned and effectively controlled against swing.

关 键 词：塔式起重机 滑模自抗扰控制 滑模控制 线性扩张状态观测器 非线性误差反馈控制律 鲁棒性 

分 类 号：TH213.3[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]