双摆桥式起重机抗扰防摆跟踪控制

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摘要针对双摆桥式起重机系统的控制问题提出了一种自适应鲁棒防摆跟踪控制方法。在起重机本身存在着参数不确定性以及复杂的难建模动态的情况下，该方法可对这些未知的干扰因素进行在线估计，并实现有效的防摆与良好的轨迹跟踪。所提方法在L_1自适应控制框架下对具有欠驱动特性的双摆桥式起重机系统展开分析，构造了辅助变量将系统模型进行等效变换，并在该模型中引入集总干扰项以处理未建模动态（模型误差）的影响。结合观测器、滤波器、与更新律的设计，所提方法能够在理论上保证跟踪误差有界可调节，即可通过增大调节因子减小跟踪误差。一系列仿真与硬件实验结果验证了所提方法的有效性。

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	吴易鸣1
	孙宁2
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	杨钦朝1
	尹健宇1

关键词 ：欠驱动系统, 桥式起重机, 运动控制, 轨迹跟踪

Abstract：An adaptive robust anti-swing tracking control method for underactuated double-pendulum overhead crane systems was proposed. In the presence of parametric uncertainties and complicated difficult-to-model dynamics, the proposed control method can estimate these unknown disturbances online, and achieve effective anti-swing and trajectory tracking performance. The proposed method was designed under the framework of L_1 adaptive control, and the underactuated characteristics of the double-pendulum overhead crane systems were analyzed. The dynamic equations were equivalently transformed by constructing an auxiliary variable. Based on the transformed model, the unmodeled dynamics (modeling errors) was addressed by introducing a lumped disturbance term. Together with the designed observer, filter, and updating law, the tracking error was proven to be bounded and adjustable. Specifically, the tracking error can be reduced by increasing the updating factor. A series of simulation and experimental results validated the effectiveness of the proposed method.

Key words： underactuated systems overhead crane motion control trajectory tracking

收稿日期: 2022-11-22 出版日期: 2023-11-15

引用本文:

吴易鸣1，孙宁2,3，杨钦朝1，尹健宇1. 双摆桥式起重机抗扰防摆跟踪控制[J]. 振动与冲击, 2023, 42(21): 36-42.
WU Yiming1, SUN Ning2,3, YANG Qinzhao1, YIN Jianyu1. Anti-disturbance and anti-swing tracking control of double-pendulum overhead crane. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(21): 36-42.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2023/V42/I21/36

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