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中南大学学报(自然科学版)

Journal of Central South University

第50卷    第11期    总第303期    2019年11月

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文章编号:1672-7207(2019)11-2703-09
单参数调整的欠驱动吊车防摆定位全过程自抗扰控制
肖友刚1, 2,卢浩1, 2,余驿1, 2,韩锟1, 2

(1. 中南大学 交通运输工程学院,湖南 长沙,410075;
2. 中南大学 轨道交通安全关键技术国际合作联合实验室,湖南 长沙,410075
)

摘 要: 通过对比台车作业轨迹的理想值与实际值,构造台车作业轨迹的误差反馈控制律;针对绳长、负载、非线性等因素影响负载摆动且负载摆动角度和角速度难以测量的问题,设计负载摆动的扩张状态观测器,并构造抑制负载摆动的误差反馈控制律,进而得到不依赖于系统模型参数、结构简单且能抑制系统非线性及干扰影响的吊车防摆定位全过程自抗扰控制器。研究结果表明:使用Hurwitz稳定矩阵的特征值与控制系统增益产生关联,保证闭环系统的稳定性,而且将繁琐的控制系统参数化为容易实施的单参数调整,使吊车在绳长变化及外界恶劣环境的干扰下,实际作业曲线都能全过程按照设定轨迹以尽可能小的负载摆角运行,使台车作业时间得到准确控制,吊车作业效率显著提升。

 

关键词: 欠驱动吊车;防摆定位;单参数调整;全过程自抗扰控制

WADRC for anti-swing positioning of underactuated crane with one parameters tuning
XIAO Yougang1, 2, LU Hao1, 2, YU Yi1, 2, HAN Kun1, 2

1. School of Traffic and Transportation Engineering, Central South University, Changsha 410075, China;
2. Joint International Research Laboratory of Key Technology for Rail Traffic Safety, Central South University, Changsha 410075, China

Abstract:By comparing the ideal values with the actual values of the trolley operation track, the error feedback control law was constructed. Aiming at the uncertain factors such as rope length, load, nonlinearity and so on, which affect the load swing, and the problem that the load swing angle and angular velocity are difficult to measure, an extended state observer for load swing was designed. Then an error feedback control law was constructed to suppress the load swing. Furthermore, a whole-process active disturbance rejection controller(WADRC) for crane anti-swing positioning independent of system model parameters was formed, which was simple in structure and able to reject the influence of system nonlinearity and disturbance. The results show that by associating the eigenvalues of Hurwitz stability matrix with the gains of the control system, the stability of the closed-loop system is guaranteed, and several difficult-tuned control parameters are transformed into an easy-tuned parameter. Under the disturbance of rope length change and external bad environment, the actual operation track can run according to the set track with the smallest load swing angle as much as possible, so that the working time of the crane can be accurately controlled, and the efficiency of crane operation can be improved significantly.

 

Key words: underactuated crane; anti-swing positioning; single parameter tuning; WDRC(whole-process active disturbance rejection controller)

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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