基于逆系统方法的内模控制在吊车消摆运动中的应用

针对非线性、欠驱动的桥式吊车水平运动系统，先运用非线性逆系统方法将其转化为伪线性系统，然后按照线性系统理论设计内模控制器来控制吊车的水平定位．同时设计了一个角度反馈控制器来确保摆角迅速衰减．最后和常规PID、模糊控制做了比较．实验结果表明，本方案能保证定位无静差、摆角迅速衰减，同时具有良好的抗干扰能力和较强的鲁棒性，控制效果优于PID和模糊控制．

Application of Internal Model Control Based on Inverse System Method to Anti-swing of Crane

For nonlinear underactuated horizontal moving process of bridge crane system,the nonlinear inverse system method is used firstly to convert the bridge crane system into a pseudo-linear system,then an internal model controller is designed based on linear control theory to obtain the precise position.At the same time,an angle feedback controller is designed to make the angle damp out.Finally,a comparison is made with conventional PID(proportional integral differential) and fuzzy controller respectively.Experiment results demonstrate that the proposed strategy can guarantee no positioning errors and quickly damping-out of angle,it has good abilities of anti-disturbance and robustness,and its control performance is better than that of PID and fuzzy control.