基于输入整形的线性二次型调节器及其应用

The Linear Quadratic Regulator Based on Input Shaping Technique and Its Application

针对桥式起重机这一类不完全控制系统,提出了一种新的混合控制方案,有机地结合了鲁棒输入整形技术以及线形二次型调节器(LQR).该方案中,结合起重机模型的特点,采用LQR控制器来同时实现小车的定位以及消除负载的残留振荡.输入整形技术采用频域的零点配置方法设计多峰鲁棒输入整形器用来进一步减小负载的瞬时振荡,保障安全作业;所设计的混合方案在结构上简单实用,适合实际应用.仿真结果证明了该方案的良好性能.和基本的LQR控制进行比较,该方案可同时实现小车的定位以及消除负载的残留振荡,并可有效地减小负载的瞬时振荡,体现了良好的综合性能.

A new hybrid control approach was proposed for the overhead crane systems which belong to the category of incomplete control systems. The approach combines the input shaping technique with the linear quadratic regulator （LQR）. An LQR controller is designed for the trolley positioning and the residual vibration eliminating. The transient vibration is reduced further for safety problems by the input shaping technique which utilizes zero placement method in the frequency domain to design multi hump robust input shapers. Such a hybrid approach is simple in structure and readily realizable. The simulation results verify the fine performance of this hybrid control approach. Compared with the basic LQR control, the proposed approach can achieve the trolley positioning and residual vibration eliminating simultaneously, and reduce the transient vibration more efficiently. The proposed approach has good synthetical performance.