旋转吊车模型的自抗扰控制设计

Active Disturbance Rejection Controller Scheme for the Rotary Gantry

旋转吊车模型是一个单输入、双输出、非线性、强耦合的系统,采用改进的自抗扰控制方法对其进行控制,在保证竖直摆杆稳定的前提下,通过增加跟踪微分器,可以使水平摆杆平稳地运行到指定的位置。在仿真的基础上,通过实验验证了这种方法的有效性,结果表明这种方法不仅有着较好的鲁棒性,而且有着优良的抗干扰性能。

Rotary gantry is an ideal model for crane, which is a single-input and two-outputs system with strong nonlinearity and strong coupling. An improved method of active disturbance rejection controller（ADRC） was presented. On the basis of making the erect arm stability, by means of adding tracking differentiators, the horizontal arm move to the position required steadily. Simulation is taken first, then the experiment is done successfully in different conditions, all prove the efficiency of the control method, and the results demonstrate the good robustness and the disturbance rejection of the ADRC method.