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摘要: 针对工业桥式起重机输入信号存在时滞的问题，本文设计了一种鲁棒跟踪控制器.具体而言，本文通过分析欠驱动桥式起重机的特性，引入辅助系统，将时滞模型等效为不存在时滞的模型.在此基础上，考虑系统参数的不确定性，设计了一种鲁棒跟踪控制器.本文使用基于Lyapunov理论的稳定性分析及证明方法，通过建立Lyapunov-Krasovskii（LK）方程证明了位置跟踪误差以及摆角可以在有限时间内收敛到一个界内，且界的大小与控制增益负相关.完成控制器设计后，将其与工业上常用的比例-积分-微分（Proportion-integration-differentiation，PID）控制方法进行比较.仿真及实验结果表明，本文所设计的控制器优于PID控制器，具有良好的控制性能.
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关键词:
- 桥式起重机 /
- 输入时滞 /
- 鲁棒控制 /
- Lyapunov方法
Abstract: To solve the problem of input delay of an industrial overhead crane, this paper designs a robust controller. Specifically, based on the analysis of the system model, an auxiliary system is introduced to convert the model of the crane system with input delay to a non-delay system. Based on the new system, considering the parameter uncertainties, a robust tracking controller is constructed. The Lyapunov-Krasovskii (LK) function is applied to complete the stability analysis when using the Lyapunov theory to prove that the trolley tracking error and the swing angle converge to a domain in a finite time. The relationship between the radius of the domain and the control gain is negative correlation. After designing the robust controller, we compare it with the proportion-integration-differentiation (PID) control algorithm, both the simulation results and experiment results show the efficiency of the proposed tracking controller.-
Key words:
- Overhead crane /
- input delay /
- robust control /
- Lyapunov method
1) 本文责任编委 李鸿一 -
图 4 不同负载质量下PID控制器控制效果
Fig. 4 The performance of PID controller with different payload mass
图 5 不同负载质量下鲁棒控制器控制效果
Fig. 5 The performance of robust controller with different payload mass
图 6 依据实验平台参数的仿真结果
Fig. 6 Simulation results of the controller with the platform parameters
图 7 PID控制器与鲁棒控制器的实验效果对比
Fig. 7 Comparison of the experiment results between the PID controller and the robust controller
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