基于时延估计的桥吊双吊具无模型同步控制  

Model-free Synchronous Control of Double Containers of Overhead Cranes Based on Time-delay Compensation

作　　者：宋贤广 徐为民 SONG Xianguang;XU Weimin(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》2025年第2期290-297,共8页Control Engineering of China

基　　金：上海市自然科学基金资助项目(13ZR1418800)。

摘　　要：提出一种具有时延估计的无模型控制方案,用于桥吊双吊具起升电机的跟踪和同步控制。首先,将桥吊双吊具起升电机的复杂动态模型转化为超局部模型,超局部模型只与控制输入和输出动态有关;然后,提出一种PD类型控制的时间延迟估计技术,对桥吊双吊具系统的未建模动态和扰动进行整体估计;接着,为改善延迟补偿估计的跟踪精度问题,提出一种自适应滑模观测器来补偿延迟估计的误差,以实现桥吊双吊具起升电机系统的无模型控制;同时,提出一种具有预置性能的时变滑模控制器,进一步改善桥吊双吊具起升电机的跟踪和同步精度;最后,利用李雅普诺夫稳定性理论分析了闭环控制系统的稳定性,并通过仿真实验验证了所提控制方案的有效性。A model-free control scheme with time-delay estimation is proposed for the tracking and synchronous control of a double container of overhead cranes lifting motor.Firstly,the complex dynamic model of the double container of overhead cranes lifting motor is transformed into a hyperlocal model,which is only related to the control input and output dynamics.And a time delay estimation technique for PD type control is proposed to provide an overall estimate of the unmodelled dynamics and disturbances of the double container of overhead cranes system.Then,to improve the tracking accuracy problem of delay compensation estimation,an adaptive sliding mode observer is proposed to compensate for the error of delay estimation to achieve model-free control of the double container of overhead cranes lifting motor system.At the same time,a time-varying sliding mode controller with prescribed performance is proposed to improve further the tracking and synchronization accuracy of the double container of overhead cranes lifting motor.Finally,the stability of the closed-loop control system is analyzed using Lyapunov qualitative theory,and the effectiveness of the control scheme is verified through simulation experiments.

关 键 词：桥吊双吊具 无模型控制 时延补偿 同步控制 时变滑模 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]