欠驱动三维桥式吊车系统自适应跟踪控制器设计

针对三维桥式吊车系统的欠驱动特性, 设计了一种目标轨迹自适应跟踪控制器. 相比其他常规的三维桥式吊车控制器, 它不需要对吊车模型进行任何近似解耦或线性化处理, 并且考虑了系统所受的摩擦力与空气阻力等干扰. 在负载质量和吊绳绳长等发生变化或存在不确定因素的情况下, 它依然能实现对台车的精确定位与负载摆动的有效抑制. 对于闭环系统的稳定性, 文中通过Lyapunov方法和芭芭拉定理对其进行了理论分析, 随后的实验结果也表明了这种自适应跟踪控制器良好的控制性能和对不确定性因素的适应性.

Adaptive Trajectory Tracking Control of Underactuated 3-dimensional Overhead Crane Systems

In this paper, an adaptive trajectory tracking controller is proposed for 3-dimensional (3D) underactuated overhead cranes. Considering system frictions and air resistances, this controller is put forward without approximately decoupling or linearizing the complicated nonlinear model of 3D overhead cranes. The proposed controller can accurately position the trolley as well as suppress the payload swing even in the presence of uncertainties of system parameters. The stability of the closed-loop system is proved by Lyapunov techniques and Barbalat's lemma. Subsequent experiment results also demonstrate that the designed controller can achieve a superior performance for underactuated 3D overhead cranes.