欠驱动桥式吊车抗摆控制的匹配设计方法

The Matching Design Method for Anti-Swing Control of Underactuated Overhead Cranes

目的研究欠驱动桥式吊车在水平运动过程中的负载抗摆问题.方法采用匹配设计方法,通过匹配条件,使开环系统与闭环系统的动力学方程匹配.结果通过求解由匹配条件建立的偏微分方程,通过特征方程法确定闭环系统的质量矩阵、势能函数及阻尼矢量,并得到使系统稳定的控制律.结论仿真结果表明,通过匹配设计方法得到的桥式吊车抗摆控制器,不仅在短时间内实现了负载的抗摆,同时小车也具有良好的位置跟踪性能,小车到达指定位置和负载摆角趋于零的时间基本一致,表明了此方法的有效性和可行性.

The anti-swing control problem of underactuated overhead cranes is discussed in this paper. By the matching design method, the dynamical equations of dosed loop system can match those of the open loop system. The mass matrix, potential function and damping vector of the closed loop system can be obtained by the PDEs describing the matching conditions, then the control laws which stabilize the system can be obtained by the characteristic equation method. The simulation results show that, by matching design method, the load swing can be eliminated quickly and good tracking performance of the cart can be realized.