摘要
为解决不确定性条件下,因桥式吊车系统与其数学模型失配而导致的控制器设计困难的问题,提出一种不依靠精确模型信息的桥式吊车模型参考自适应控制策略。首先,使用不确定性扰动估计(UDE)技术来估计包含匹配和非匹配扰动的模型误差。然后,通过设计基于UDE的无抖振模型参考自适应滑模控制器保证桥式吊车能够在不确定性条件下实现小车到达指定位置的同时消除负载摆动。最后,通过李雅普诺夫稳定性理论证明了该控制系统的闭环稳定性。仿真分析证明了该方法的有效性。
In order to solve the problem of controller design difficulty caused by the mismatch between overhead crane system and its mathematical model under uncertain conditions, an overhead crane model reference adaptive control strategy without relying on accurate model information is proposed. First, uncertain disturbance estimation(UDE) techniques are used to estimate model errors involving matched and unmatched disturbances. Then, the UDE-based chattering-free model reference adaptive sliding mode controller is designed to ensure that overhead crane can eliminate the payload swing while the trolley reaches the specified position under uncertain conditions. Finally, the closed-loop stability of the control system is proved by Lyapunov stability theory. The simulation results show the effectiveness of the method.
作者
张明明
徐为民
顾秀涛
王永爽
张万鹏
ZHANG Ming-ming;XU Wei-min;GUXiu-tao;WANG Yong-shuang;ZHANG Wan-peng(Institute of Logistics Science and Engineering,Shanghai Maritime University,Shanghai 201306,China)
出处
《控制工程》
CSCD
北大核心
2021年第9期1902-1908,共7页
Control Engineering of China
基金
上海市科委创新计划项目(10110502600)
上海市教委科研创新项目(20110527)
上海市重点学科项目(S30602)。
关键词
桥式吊车
自适应控制
滑模控制
无抖振
Overhead crane
adaptive control
sliding mode control
chattering-free
