共查询到19条相似文献,搜索用时 171 毫秒
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欠驱动桥式吊车系统自适应控制 总被引:1,自引:0,他引:1
针对桥式吊车这类非线性欠驱动系统, 提出了一种基于耗散理论的自适应控制器. 它能够有效地抑制运输过程中负载的摆动, 并将其快速准确地运送到指定的位置. 相比其他吊车控制系统, 这种控制器无需准确测量台车和负载质量以及吊绳长度, 可以根据系统响应情况来对这些参数进行在线估计, 这将极大地方便控制器在实际吊车系统中的推广应用. 对于闭环系统的稳定性, 文中通过李雅普诺夫理论及拉塞尔不变性原理进行了证明, 仿真结果也证实了这种自适应控制器能够对吊车系统进行良好的控制. 相似文献
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对于桥式吊车系统而言,其控制目标是将货物快速、精确、摆动尽可能小地运送到目标位置.为此,本文提出了一种新型的轨迹跟踪控制策略,可在保证负载快速平稳运送的同时,有效地抑制并消除整个过程中负载的摆动.具体而言,通过对吊车动力学模型进行一系列的变换,设计了一种新颖的跟踪控制器,并对闭环系统信号的有界性与收敛性进行了理论分析.与调节控制方法相比,本文方法可保证台车的平滑启动与运行;此外,本方法放宽了已有轨迹跟踪控制方法对参考轨迹的约束条件,更具实用性与一般性.实验结果表明,本文设计的控制器能取得优于已有方法的控制效果,并对外界干扰具有很强的鲁棒性. 相似文献
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针对实际桥式吊车系统物理参数不易获得的问题,提出一种基于能量守恒的参数辨识方法。该方法根据能量守恒原理建立辨识回归方程,然后用非负最小二乘法处理辨识实验数据,得到桥式吊车的控制器设计模型。以桥式吊车实验系统为背景,模拟桥式吊车的实际运行特点,进行辨识实验,获得系统的数学模型。在此基础上用LQR 控制器验证了该方法在桥式吊车实验系统上辨识结果的准确性,证明该辨识方法对桥式吊车的控制有很大帮助。 相似文献
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桥式吊车系统受到外部干扰会影响系统的整体性能,且小车速度、负载摆角角速度、绳长变化速度在工程实际中难以测量。为了获取这些变量的估计信息,以便进行闭环控制,针对变绳长桥式吊车系统设计了一种非线性扩张状态观测器。该观测器将桥式吊车系统的参数摄动和外部干扰等扰动因素扩张成新状态,利用小车位置、负载摆角和绳长信息进行状态重构,在线实时估计小车速度、负载摆角角速度、绳长变化速度以及扰动等状态信息,并对给出的非线性扩张状态观测器进行了稳定性证明。Matlab仿真结果表明,各状态变量均能在0.3 s左右得到收敛。与线性扩张状态观测器相比,非线性扩张状态观测器能够获得更小峰值的观测结果。 相似文献
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对于桥式吊车系统的最优控制问题,根据实际的工况要求,性能指标有时不一定是标准的二次形式.同时,在实际的控制问题中,状态和控制输入往往会受到一些边界条件和路径过程中的约束.针对这一问题,本文应用Chebyshev伪谱优化算法来处理,它可以处理状态和控制约束的非线性最优化问题以及一个非标准的目标函数.首先对桥式吊车系统模型进行一系列的坐标变换,将其转变为上三角系统形式的误差模型.然后将桥式吊车最优控制问题转化成具有一系列代数约束的参数优化问题,即非线性规划问题.通过求解离散化后的参数优化问题,得到桥式吊车的最优控制律.本文还给出了Chebyshev伪谱最优解的可行性和一致性分析.最后,在仿真研究中验证该控制器的有效性. 相似文献
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基于模糊自适应PID控制的吊车防摆定位系统 总被引:1,自引:0,他引:1
针对桥式吊车水平运动系统是一个非线性、变参数、强耦合的对象,采用模糊自适应PID控制器进行定位和防摆控制。仿真实验结果表明,系统具有良好的动态、静态特性和较强的鲁棒性。 相似文献
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Xue Li 《International journal of systems science》2013,44(16):3332-3345
A three-dimensional (3-D) overhead crane is a complicated nonlinear underactuated mechanical system, for which high-speed positioning and anti-sway control are the kernel objective. Existing trajectory-based methods for 3-D overhead cranes focus on combining efficient and smooth trajectories with anti-sway tracking controllers without regard for payload motion; moreover, the exact value of plant parameters is required for accurate compensation during the control process. Motivated by these facts, we present a two-step design tracking strategy which consists of a trajectory planning stage and an adaptive tracking control design stage for 3-D overhead cranes. As shown by Lyapunov techniques and Barbalat's Lemma, the proposed controller guarantees asymptotic swing elimination and trolley positioning result in the presence of system uncertainties including unknown parameters and external disturbances. Simulation results also showed the applicability of the proposed method with good robustness against parameter uncertainties and external disturbances. 相似文献
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A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes 总被引:1,自引:0,他引:1
Xinwei Wang Jie Liu Yong Zhang Boyang Shi Dianheng Jiang Haijun Peng 《国际强度与非线性控制杂志
》2019,29(7):2236-2253
》2019,29(7):2236-2253
In this paper, a unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes is proposed. A feasible reference trajectory taking constraints into consideration is first generated offline by the symplectic pseudospectral optimal control method. Then, a trajectory tracking model predictive controller also based on the symplectic pseudospectral method is developed to track the reference trajectory. At each sampling instant, the trajectory tracking controller works by solving an open‐loop optimal control problem where linearized system dynamics is used instead to improve the computational efficiency. Since the symplectic pseudospectral optimal control method is the core algorithm for both offline trajectory planning and online trajectory tracking, constraints on state variables and control inputs can be easily imposed and hence theoretically guaranteed in solutions. By selecting proper weighted matrices on tracking error and control, the developed controller could achieve control objectives in both accurate trolley positioning and fast suppressing of residual swing angles. Simulations for 3D overhead crane systems in the presence of perturbations in initial conditions, an abrupt variation of system parameter, and various external disturbances demonstrate that the developed controller is robust and of excellent control performance. 相似文献
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In this paper, the system dynamics of an overhead crane are inverted by servo-constraints. The inversion provides a feedforward control for trajectory tracking of the system output. The overhead crane is inherently underactuated and modeled as a two-dimensional mechanical system with nonlinear system dynamics. Actuators are modeled as first-order systems to simplify implementation and account for velocity-controlled drives. The control based on servo-constraints is shown to be an effective method of trajectory control for overhead cranes. It will be demonstrated that the formulation is solvable in real-time using linear implicit Euler integration. The feedforward solution is made robust by an augmentation with LQR as well as a sliding mode controller. Experiments are conducted on a laboratory crane of 13 m motion range. 相似文献
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Adaptive Proportional-Derivative Sliding Mode Control Law With Improved Transient Performance for Underactuated Overhead Crane Systems
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Menghua Zhang Xin Ma Rui Song Xuewen Rong Guohui Tian Xincheng Tian Yibin Li 《IEEE/CAA Journal of Automatica Sinica》2018,5(3):683-690
In this paper, an adaptive proportional-derivative sliding mode control (APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties, and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved. The Lyapunov techniques and the LaSalle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law. 相似文献
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This paper addresses a three-dimensional (3D) path following control problem for underactuated autonomous underwater vehicle (AUV) subject to both internal and external uncertainties. A two-layered framework synthesizing the 3D guidance law and heuristic fuzzy control is proposed to achieve robust adaptive following along a predefined path. In the first layer, a 3D guidance controller for underactuated AUV is presented to guarantee the stability of path following in the kinematics stage. In the second layer, a heuristic adaptive fuzzy algorithm based on the guidance command and feedback linearization Proportional-Integral-Derivative (PID) controller is developed in the dynamics stage to account for the nonlinear dynamics and system uncertainties, including inaccuracy modelling parameters and time-varying environmental disturbances. Furthermore, the sensitivity analysis of the heuristic fuzzy controller is presented. Against most existing methods for 3D path following, the proposed robust fuzzy control scheme reduces the design and implementation costs of complicated dynamics controller, and relaxes the knowledge of the accuracy dynamics modelling and environmental disturbances. Finally, numerical simulation results validate the effectiveness of the proposed control framework and illustrate the outperformance of the proposed controller as well. 相似文献
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Shengzeng Zhang Xiongxiong He Qiang Chen Yuanjing Feng 《Asian journal of control》2020,22(4):1729-1735
In this paper, an improved energy dissipation controller is presented for overhead cranes. Our main contribution is the characterization of overhead cranes for which energy shaping method yields a significant storage function, where a nonlinear coupling controller is delivered that drastically increases the damping of the control system. Additional terms are fabricated to assure a soft start and a limited overshoot. In the frame of the Lyapunov theory, we apply LaSalle's invariance principle to illustrate the corresponding stability. Such a controller is experimented and some results are reported. 相似文献
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A 3D overhead crane is an underactuated system consisting of five outputs: trolley position, bridge translation, cable length, and two cargo swings. These outputs are controlled by three actuators for cargo hoisting, trolley motion, and bridge traveling. This study proposes the use of a nonlinear controller that performs five tasks concurrently: cargo hoisting, trolley tracking, bridge motion, payload vibration suppression during transport, and cargo swing elimination at the destination. The proposed algorithm is combined with two control components: (i) partial feedback linearization, which is a precursor to controller design, to suppress cargo vibration; and (ii) sliding mode method, which provides robust control in lifting the payload and driving trolley and bridge motions against model imprecision and uncertainty. These two control mechanisms are successfully merged into a combined controller because the kinematic relationships between the state variables are made apparent in the system dynamics. Simulation and experimental results show that the proposed controller asymptotically stabilizes all system responses.Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
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In this paper, a trajectory planning approach is proposed for underactuated overhead cranes. Different from existing trajectory planning methods, the presented approach generates trajectory commands online without the necessity of iterative optimization, which is convenient for practical implementation. We demonstrate the performance of the proposed method, including swing elimination and precise trolley positioning, with rigorous Lyapunov‐based mathematical analysis. Both numerical simulation and experimental results suggest that the presented method is feasible and efficient for practical applications. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献