摘要
吊车系统在大尺寸货物运送过程中会呈现出双摆效应,同时更易受到外部干扰影响,导致控制难度更大。针对双摆吊车系统控制难题,提出一种基于扩张状态观测器的分层滑模控制方法,在保证负载快速平稳运送的同时有效抑制吊钩和负载的摆动。基于吊车系统的动力学模型设计扩张状态观测器对系统的状态变量和干扰集合项进行估计,利用系统的状态误差和观测器的估计信号设计分层滑模控制器。此外,控制方法通过在滑模面中引入干扰补偿项,进一步提高系统的抗干扰能力。通过数值仿真,与已有方法进行对比,充分验证该研究方法在工作效率和鲁棒性方面均具有良好的控制性能。
During the oversized cargo transportation process,the crane system may act like a double pendulum system,which would also be easily affected by external disturbances and result in greater control difficulty.To deal with this control problem of the double pendulum crane system,a hierarchical sliding mode control method based on an extended state observer is proposed in this work to attain fast and smooth payload transportation while effectively suppressing the swing of the payload and the hook.Particularly,the state variables and disturbance terms are estimated by the designed extended state observer,and afterward,a hierarchical sliding mode controller is proposed by using the state error signals and the estimated signals of the observer.Moreover,the disturbance compensation term is contained in the designed sliding surface to further enhance the anti-disturbance ability of the system.In comparison to current methods by simulation tests,the proposed method can bring suitable control performance regarding working efficiency and robustness.
作者
姚鑫亚
陈鹤
YAO Xinya;CHEN He(School of Artificial Intelligence,Hebei University of Technology,Tianjin 300401,China)
出处
《智能系统学报》
CSCD
北大核心
2024年第2期344-352,共9页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金项目(62373134,61903120,U20A20198)
河北省自然科学基金项目(F2020202006)
辽宁省重点科技创新基地联合开放基金暨机器人学国家重点实验室联合开放基金项目(2022-KF-22-09)。
关键词
吊车系统
双摆效应
欠驱动系统
分层滑模控制
扩展观测器
摆动抑制
机电系统
先进控制
crane systems
double pendulum performance
underactuated systems
hierarchical sliding mode control
extended state observer
swing suppression
mechatronics systems
advanced control
