桥式吊车系统信息融合跟踪控制器设计
Information Fusion Tracking Controller design of Overhead Crane System
针对桥式吊车的跟踪控制问题, 提出了一种基于融合控制理论的控制方法. 首先将控制问题转化为系统的性能指标函数, 然后将其表示成非线性信息融合统一量测模型, 最后利用非线性信息融合定理求取控制量的最优估计值. 本文中的控制方法把实际关心的输出量和控制量用统一的二次型函数表示, 通过求取其极小值, 然后逆向迭代计算, 估计出控制量的最优估计值, 该方法具有统一的形式, 易于向其它领域推广. 随后的数学仿真实验, 验证了算法的有效性.
A control method is proposed based on fusion control theory for the tracking control problem of overhead crane. Firstly, the control problem should be transformed into a performance index function of the system, and then, expressed as a unified nonlinear information fusion measurement model, finally estimates its optimal control value through nonlinear information fusion theorem. We take actual concerned output and control values into a two type function in this paper, and then estimate the optimal control values through reverse iteration calculation when the function gets minimum value. This method is easy to spread to other areas because of a united form. The mathematical simulation experiments followed verify the effectiveness of the proposed algorithm.
信息融合, / 桥式吊车, / 轨迹跟踪, / 防摆控制. {{custom_keyword}} /
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