高速电梯水平振动的鲁棒控制

ROBUST CONTROL OF HORIZONTAL VIBRATIONS FOR HIGH-SPEED ELEVATOR

为了研究高速电梯的水平振动,基于刚体动力学理论,建立电梯轿厢水平振动的空间动力学模型。为了消除参数不确定性及外扰作用的影响,应用Lyapunov方法,分别针对轿厢的平动和转动设计位置鲁棒控制器和姿态鲁棒控制器。其中应用位移、速度和加速度反馈和Lyapunov方法设计位置控制律;应用输入/输出反馈线性化和Lyapunov方法设计姿态控制律。仿真研究表明,所设计的控制器有较好的性能,在参数不确定性和扰动存在的情况下,能有效降低电梯的水平振动。

A dynamic model of horizontal vibratious for high-speed elevator was developed based on the theory of rigid body dynamics. In order to eliminate the influence of parameter uncertainties and external disturbances, a robust controller of position and a robust controller of attitude were designed using Lyaptmov method based on the translation dynamic model and the rotation dynamic model, respectively. Placement, velocity and acceleration feedback and the Lyaptmov method were used to design the position controller, the input/output feedback linearization approach and Lyapunov method were used to design the attitude controller. Simulation results indicate that the horizontal vibrations of the elevator can be reduced effectively by applying the robust controller in the presence of the parameter uncertainties and the external disturbances.