参数带宽化的双摆桥式起重机线性自抗扰控制  

Linear active disturbance rejection control of double pendulum overhead crane with parameter bandwidth

作　　者：邵雪卷[1] 韩雨豪 周亮亮[2] 孙来庆 陈志梅[1] 张井岗[1] SHAO Xuejuan;HAN Yuhao;ZHOU Liangliang;SUN Laiqing;CHEN Zhimei;ZHANG Jinggang(College of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030000,China;Taiyuan Heavy Industry Co.,Ltd.,Taiyuan 030000,China)

机构地区：[1]太原科技大学电子信息工程学院,太原030000 [2]太原重工股份有限公司,太原030000

出　　处：《振动与冲击》2025年第4期82-90,共9页Journal of Vibration and Shock

基　　金：山西省重点研发基金项目(202102020101013);山西省基础研究计划项目(202303021211165,202103021224271);太原科技大学博士科研启动基金项目(20202070);山西省研究生教育教学改革课题(2023JG139,2023AL31)。

摘　　要：桥式起重机作为工业上广泛应用的运输设备,在实际起动时,台车移动势必会带动吊钩以及负载产生两级摆角,增加小车定位与实时消摆的难度。针对这种情况,提出一种参数基于带宽调节的线性自抗扰控制方法,以消除初始负载摆角、内部不确定状态以及外界扰动对系统的影响。首先,将系统解耦成三个控制量互不包含的子系统;其次,对解耦后的子系统分别设计线性扩张状态观测器和线性控制器;最后,结合Lyapunov方法将设计的扩张状态观测器和控制器参数带宽化并进行收敛性和稳定性分析。仿真结果表明,所提控制方法能够在强扰动影响下准确平稳地将负载运输到目标位置并快速消除两级摆动,同时对模型参数变化具有较强的鲁棒性。Overhead crane is a widely used transportation equipment in industry.During actual start⁃up,the movement of the trolley will inevitably drive the hook and load to produce a two⁃stage swing angle,increasing the difficulty of positioning and real⁃time anti⁃swing of the trolley.In view of these situations,a linear active disturbance rejection control method with parameters based on bandwidth adjustment was proposed to eliminate the impact of the initial load swing angle,internal uncertain states and external disturbance on the system.Firstly,the system was decoupled into three subsystems whose control variables did not contain each other.Then,the linear extended state observer and linear controller were designed for the decoupled subsystem respectively.Finally,the designed extended state observer and controller parameters were bandwidthized and a convergence and stability analysis were carried out in combination with the Lyapunov method.The simulation results show that the proposed control method can accurately and smoothly transport the load to the target position under the influence of strong disturbance and quickly eliminate two⁃stage swing,and at the same time have strong robustness to the change of model parameters.

关 键 词：双摆桥式起重机 带宽法 自抗扰 线性扩张状态观测器 

分 类 号：TH212[机械工程—机械制造及自动化] TH213.3