桥式起重机3D防摇动力学理论模型及控制策略  

Research on 3D anti-swing dynamics theoretical model and controlstrategy of overhead cranes

作　　者：戚其松[1] 操尚峰 董青[1] 沈舒杰 张宇乐 QI Qi-songy;CAO Shang-feng;DONG Qing;SHEN Shu-jie;ZHANG Yu-le(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学机械工程学院,太原030024

出　　处：《控制与决策》2024年第10期3319-3327,共9页Control and Decision

基　　金：国家自然科学基金青年科学基金项目(52105269);山西省基础研究计划面上项目(202203021221156)。

摘　　要：以桥式起重机为研究对象,针对其在三维复杂欠驱动系统中因状态参量高度耦合而导致动力学方程难以线性化处理和滑模控制器本身控制力输出的高频抖振等系列问题,设计一种基于分层滑模控制的改进超螺旋滑模控制器,以期当负载质量和钢丝绳长度等参数不断变化时,仍能实现对起重机的精确定位并有效抑制负载摆角.采用Lyapunov函数对控制器稳定性和可行性进行证明,通过搭建物理模型对所研究内容进行验证,仿真与实验结果的一致性证明了所提出的控制器对抑制负载摆动现象具有较好效果.以上结果表明所研究的控制器能够在不降低系统鲁棒性的前提下有效消除系统抖振并抑制负载摆角幅度,具有重要的理论意义与应用潜力.In this dissertation,a super-twising sliding controller based on hierarchical sliding mode control is developed for the model of 3D overhead cranes in case of linearizing the dynamical equations hardly and high-frequency oscillation of the sliding mode controller,in order to achieve accturate positioning and anti swing angle effectively during the load mass and rope length constantly changing.The stability and accessibility of this controller are proved by constructing Lyapunov functions,buliding physical model to validate research,the consistency of the simulation and experimental results proves that this controller is effective in anti swing.The above results show that this controller can eliminate oscillation,keeping payload swings small and robustness of the system,it has important theoretical significance and application potenial.

关 键 词：桥式起重机 欠驱动系统 超螺旋滑模控制 防摇控制 LYAPUNOV函数 鲁棒性 

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]