基于能量分析的桥式起重机防摆控制方法

针对欠驱动桥式起重机在自动化驾驶研究中负载升/落吊运动与台车水平位移联动时,负载摆动抑制效果和控制性能不能满足实际工程需要,易造成安全事故的问题,提出一种基于能量分析的桥式起重机联动系统非线性耦合防摆控制器.采用非线性耦合控制方法,构造新型储能函数,设计出非线性耦合防摆控制器.利用LaSalle不变性原理和Lyapunov方法对该闭环反馈系统稳定性进行严格的数学分析.理论推导、仿真与实验结果表明:相比于非线性跟踪控制器和局部反馈线性化控制器,所提非线性耦合防摆控制器具有更佳的控制性能,不仅提高了负载的吊运效率,而且能够有效抑制和快速消除负载摆角;在添加外部扰动的情况下,仍能取得良好的控制效果,具有较强的鲁棒性,为桥式起重机联动系统提供了一种新的防摆控制方法.

Anti-swing control method of bridge crane based on energy analysis

In order to solve the problem that the load swing suppression effect and control performance can not meet the actual engineering needs when the hoisting / lowering motion of the load is linked with the horizontal displacement of the trolley in the automatic driving research of underactuated bridge crane, a nonlinear coupling anti-swing controller based on energy analysis is proposed. The nonlinear coupling control method is used to construct a new energy storage function, and then a nonlinear coupling anti-swing controller is designed. By using the principle of the LaSalle invariance and Lyapunov methods, the stability of the closed-loop feedback system is strictly analyzed. Theoretical derivation, simulation and experimental results show that, compared with the nonlinear tracking controller and the partial feedback linearization controller, the proposed nonlinear coupling anti-swing controller has better control performance, which not only improves the lifting efficiency of the load, but also effectively suppresses and quickly eliminates the load swing angle; Under the condition of adding external disturbances, good control effects can still be obtained, and it has strong robustness, which provides a new anti-swing control method for the linkage system of bridge crane.