摘要
针对欠驱动门式起重机控制系统,设计了一种欠驱动门式起重机控制系统仿真实验。基于Euler-Lagrange方程建立门式起重机动力学模型,分析了门式起重机的非线性特性;采用Lyapunov方法设计了基于能量耦合的控制律;使用Matlab/Simulink软件设计了仿真实验。仿真实验结果表明:所提控制律提升了门式起重机控制的准确性和鲁棒性。所设计的控制系统仿真实验将理论分析与专业实践相结合,有助于学生对非线性欠驱动控制方法相关课程的学习和科学研究工作。
In view of the control system of the underactuated gantry crane,a simulation experiment of the control system for the underactuated gantry crane is designed.Firstly,the dynamic model of the gantry crane is established based on the Euler-Lagrange equation,and the nonlinear characteristics of the gantry crane are analyzed.Then,the Lyapunov method is used to design the control law on the basis of energy coupling.Finally,the simulation experiment is designed with Matlab/Simulink software.The simulation results show that the proposed control law is accurate and robust to the control performance of the gantry crane.The designed simulation experiment of the control system combines theoretical analysis with professional practice,which is helpful for students’learning and scientific research on nonlinear underactuated control methods.
作者
石怀涛
李刚
SHI Huaitao;LI Gang(School of Mechanical Engineering,Shenyang Jianzu University,Shenyang 110168,China)
出处
《实验技术与管理》
CAS
北大核心
2020年第2期124-127,共4页
Experimental Technology and Management
基金
国家重点研发计划项目(2017YFC0703903)
国家自然科学基金项目(51705341,51675353).
