一种双摆效应桥式起重机光滑鲁棒控制方法

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摘要在现代工业领域，起重机被广泛用于大体积负载的运输工作。在许多实际应用场景中，由于吊钩的质量无法忽略不计，整个起重机系统往往呈现出复杂的双摆效应，这一特性增强了起重机系统的复杂性、非线性与欠驱动特性。因此，针对具有双摆效应的起重机系统，文章提出了一种新型的鲁棒控制策略，实现了台车的精确定位，并有效地消除了负载与吊钩的两级摆动。具体而言，首先对原系统模型进行近似线性化处理，得到了可以准确描述双摆起重机特性的近似化模型。在此基础上，提出了一种基于超螺旋的光滑鲁棒控制算法，并通过严格的理论分析证明了闭环系统的稳定性。最后，将所提方法应用于双摆起重机硬件实验平台，实验结果验证了所提控制器的优良性能。

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	孙宁
	张建一
	吴易鸣
	方勇纯

关键词 ：双摆效应起重机, 消摆, 鲁棒控制

Abstract：Crane systems are widely used to transport large-scale cargoes in modern industry. In practical applications, crane systems always exhibit complicated double pendulum effects with non-negligible hook mass, which makes the control issue more difficult with strong nonlinearity and underactuated characteristics. To handle these issues, a new robust control strategy was proposed for double pendulum crane systems, which achieves accurate trolley positioning and effective swing eliminating. Specifically, by linearizing the original dynamic system, an approximate model was established with pendulum characteristics. Then, a super twisting-based continuous robust control method was presented, and the stability of the closed-loop system was proved rigorously by theoretical analysis. Finally, hardware experimental results were provided to verify the effectiveness of the proposed controller on a self-built hardware experiment platform. 

Key words： double-pendulum cranes swing suppression robust control

收稿日期: 2018-07-04 出版日期: 2019-11-15

引用本文:

孙宁，张建一，吴易鸣，方勇纯 . 一种双摆效应桥式起重机光滑鲁棒控制方法[J]. 振动与冲击, 2019, 38(22): 1-6.
SUN Ning,ZHANG Jianyi,WU Yiming,FANG Yongchun. Continuous robust control for double-pendulum overhead cranes. JOURNAL OF VIBRATION AND SHOCK, 2019, 38(22): 1-6.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2019/V38/I22/1

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