双摆起重机的过阻尼自耦PD消摆控制方法  

Over-damped ACPD anti-swing control method of double pendulum crane

作　　者：唐钰淇 曾喆昭[1] 张昌琪 TANG Yuqi;ZENG Zhezhao;ZHANG Changqi(School of Electrical&Information Engineering,Changsha University of Science&Technology,Changsha 410076,China)

机构地区：[1]长沙理工大学电气与信息工程学院,长沙410076

出　　处：《兵器装备工程学报》2024年第10期302-308,共7页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金资助项目(61040049);湖南省教育厅重点项目(21A0183)。

摘　　要：针对欠驱动双摆起重机系统的负载摆角在实际工作中难以有效测量和消摆时间长的问题,提出了一种无需负载摆角反馈的过阻尼自耦PD方法。该方法首先通过坐标变换来解决控制输出的耦合,然后引入虚拟控制量将双摆起重机系统分解为外环位移控制与内环吊钩摆角控制,同时将负载摆动的影响以及外部扰动定义为总扰动,进而将其等价映射为一个线性扰动系统。为了进一步提高控制系统的鲁棒性,在自耦PID控制理论的基础上提出自耦PD临界阻尼控制系统的思想,据此分别设计了外环与内环的过阻尼自耦PD控制器。且理论上分析了控制系统的鲁棒稳定性和抗扰动鲁棒性。最后通过仿真实验证明了本文控制方法可以实现双摆起重机的消摆控制。过阻尼自耦PD方法不仅具有较快的响应速度,而且不依赖模型参数以及对外部扰动具有良好的鲁棒性,能有效的解决双摆起重机系统的现有问题。Aiming at the problem that the load swing angle of the underactuated double pendulum crane system is difficult to measure effectively in practical work and the anti-swing time is long,an overdamped auto-coupling PD method without load swing angle feedback is proposed.Firstly,the coupling of control output is solved by coordinate transformation.Then,the virtual control quantity is introduced to decompose the double pendulum crane system into outer ring displacement control and inner ring hook swing angle control.At the same time,the influence of load swing and external disturbance are defined as total disturbance,and then it is equivalently mapped into a linear disturbance system.In order to further improve the robustness of the control system,based on the ACPID control theory,the idea of auto-coupling PD critical damping control system is proposed.Based on this,the over-damped auto-coupling PD controllers of the outer loop and the inner loop are designed respectively.The robust stability and anti-disturbance robustness of the control system are analyzed theoretically.Finally,the simulation results show that the control method can realize the anti-swing control of the double pendulum crane.The overdamped auto-coupling PD method not only has fast response speed,but also does not depend on model parameters and has good robustness to external disturbances,which can effectively solve the existing problems of the double pendulum crane system.

关 键 词：双摆起重机 欠驱动系统 消摆 过阻尼自耦PD控制 自适应速度因子 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]