基于嵌套饱和方法的吊车系统非线性控制

针对吊车系统定位和防摆的控制要求,提出了一种基于嵌套饱和方法的非线性控制策略。对吊车系统动力学方程进行部分反馈线性化,并通过坐标变换将其转化为便于控制器设计的严格前馈级联规范型;在此基础上利用嵌套饱和非线性控制方法设计了吊车定位防摆控制器。仿真结果表明,该方法在较小的控制力作用下实现了吊车系统的定位和防摆,并且对于吊车系统参数的变化具有很强的鲁棒性。

Nonlinear Control of Overhead Crane Based on Nested Saturation Approach

A nonlinear control strategy based on nested saturation approach is presented for an overhead crane to achieve positioning and anti-swing control.With partial feedback linearization of the overhead crane dynamics,coordinate transformation are employed to transform the dynamics into strictly feedforward cascaded normal form,which is convenient for controller design.The antiswing controller for the overhead crane is designed with nested saturation approach.The simulation results show that the control strategy can achieve the precise positioning and anti-swing of the overhead crane with the minor control force input,and has strong robustness for the variety of system parameters.