• 论文 • 上一篇    

一种基于分段能量分析的桥式吊车镇定控制器设计方法

孙宁, 方勇纯, 苑英海, 张玉东   

  1. 南开大学机器人与信息自动化研究所, 天津 300071
  • 收稿日期:2011-06-08 出版日期:2011-06-25 发布日期:2012-09-07

孙宁, 方勇纯, 苑英海, 张玉东. 一种基于分段能量分析的桥式吊车镇定控制器设计方法[J]. 系统科学与数学, 2011, 31(6): 751-764.

FANG Yongchun, YUAN Yinghai, ZHANG Yudong. A SEGMENTED ENERGY ANALYSIS BASED APPROACH FOR THE REGULATION OF OVERHEAD CRANES[J]. Journal of Systems Science and Mathematical Sciences, 2011, 31(6): 751-764.

A SEGMENTED ENERGY ANALYSIS BASED APPROACH FOR THE REGULATION OF OVERHEAD CRANES

FANG Yongchun, YUAN Yinghai, ZHANG Yudong   

  1. Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300071
  • Received:2011-06-08 Online:2011-06-25 Published:2012-09-07
针对欠驱动桥式吊车系统, 提出了一种基于分段能量分析的桥式吊车镇定控制器设计方法.  具体而言, 首先通过对系统特性进行分段分析构造出一个新的能量函数;
  随后, 在其基础上设计了一种新型的能量控制器, 并借助Lyapunov方法和LaSalle不变性  原理证明了闭环系统的渐近稳定性.  利用数值仿真与实际实验验证了所提出的控制算法具有良好的控制性能, 对外界 干扰具有较强的鲁棒性.  此外, 实验结果进一步表明: 相比常规的能量控制方法与时间最优控制方法, 该 控制方法可降低驱动能耗,  保证台车的快速精确定位, 同时负载的摆角被抑制在更小的范围内, 几乎无残余摆动.
This paper presents a novel segmented energy analysis based approach for the regulation of underactuated 2-dimensional (2D) overhead cranes.  Specifically, a new energy storage function is constructed via segmented analysis for the crane system. Subsequently, a novel energy coupling control law is put forward, and the closed-loop system is proven to be asymptotically stable by Lyapunov techniques and LaSalle's invariance theorem. Both numerical simulation and practical experiments are implemented to verify the superior control performance of the proposed approach even in the presence of various external disturbances. Additionally, the experimental results further demonstrate that the proposed method,  with less consumed energy,  guarantees fast and accurate trolley locating while suppressing the payload swing angle, especially the residual swing, within a much smaller range when compared with traditional energy-based control and time-optimal control strategies.

MR(2010)主题分类: 

()
[1] 郅俊海,陈玉福. 动力系统中心焦点的判定方法[J]. 系统科学与数学, 2017, 37(3): 863-869.
阅读次数
全文


摘要