摘要
针对欠驱动桥式起重机系统,考虑负载的提升过程,建立欧拉-拉格朗日三维误差系统,通过对系统进行无源性分析,构造了Lyapunov能量函数,且与滑模变结构控制结合,提出了一种无源滑模防摆控制方法,使得系统渐近稳定,并实现了小车的快速定位和负载的有效防摆,提高了系统的鲁棒性,改善了系统的控制性能。仿真结果验证了控制方案的有效性。
In view of the underactuation bridge crane system, considering the load lifting process, Eulerian-Lagrangian 3D error system is built. Passivity analysis is performed for the system, and Lyapunov energy function is constructed to get the passive slip form anti-sway control method to make the system asymptotically stable. Trolley quick-positioning and loading effective anti-sway function are realized to imProve the system robustness and control performance. The simulation result verifies the effectiveness of the control program.
出处
《起重运输机械》
2016年第11期94-98,共5页
Hoisting and Conveying Machinery
基金
山西省自然科学基金资助(2014011020-2)
