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二级摆型吊车系统动态及基于无源的控制 被引量：8

Double-Pendulum-Type Crane Dynamics and Passivity Based Control
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摘要 吊车系统由于吊钩质量的存在而呈现二级摆特性。利用拉格朗日力学原理建立了二级摆型吊车系统的动态模型,分析了系统具有的特性如无源性和固有频率,提出了一种基于无源的控制方法并证明了系统的稳定性。仿真结果验证了二级摆型吊车系统的复杂性和提出控制方案的有效性,并分析了系统参数对系统性能的影响。 The crane exhibits double-pendulum-type dynamics for a large-mass hook. The nonlinear dynamic model of a double-pendulum-type crane was derived with Lagrangian method. Several properties such as its passivity and its two eigenfrequencies were analyzed A passivity based control algorithm was proposed for the double-pendulum-type crane and system stabilization was analyzed Simulation results illustrate the complexity of the double-pendulum-type crane and the validity of the proposed control algorithm and some parameters＇ effects on system performance is analyzed.
作者 郭卫平 刘殿通
机构地区 烟台大学计算机学院
出处 《系统仿真学报》 CAS CSCD 北大核心 2008年第18期4945-4948,共4页 Journal of System Simulation
关键词 二级摆型吊车 系统仿真 无源控制 稳定性 double-pendulum-type crane system simulation passive control stabilization
分类号 TP273 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献9

  • 1Giorgio Bartolini, Alessandro Pisano, Elio Usai. Second-order Sliding- mode Control of Container Cranes [J]. Automatica (S0005- 1098), 2002, 38(10): 1783-1790.
  • 2Masoud Z N, Daqaq F M. A Graphical Approach to Input-Shaping Control Design for Container Cranes with Hoist. [J]. IEEE Transactions on Control Systems Technology (S1558-0865), 2006, 14(6): 1070-1077.
  • 3D T Liu, J Q Yi, D B Zhao, W Wang. Adaptive sliding mode fuzzy control for a two-dimensional overhead crane [J]. Mechatronies (S0957-4158), 2005, 15(5): 505-522.
  • 4Y Fang, W E Dixon, D M Dawson, et al. Nonlinear Coupling Control Laws for a 3-DOF Overhead Crane System [C]// Proceedings of the 40th IEEE Conference on Decision and Control, Orlando, 2001. USA: IEEE, 2001: 3766-3771.
  • 5刘殿通,易建强,谭民.一类非线性系统的滑模模糊动态加权控制[J].系统仿真学报,2003,15(5):721-723. 被引量：2
  • 6向博,高丙团,张晓华,胡广大.非连续系统的Simulink仿真方法研究[J].系统仿真学报,2006,18(7):1750-1754. 被引量：9
  • 7William E Singhose, Samuel T. Towell. Double-Pendulum Gantry Crane Dynamics and Control [C]// Proceedings of IEEE International Conference on Control Applications, Trieste, 1998. USA: IEEE, 1998: 1205-1209.
  • 8付俊,赵军,李一波.一类非线性级联系统的鲁棒不变切换控制[J].系统仿真学报,2006,18(10):2878-2881. 被引量：3
  • 9Arjan van der Schaft. L2-Gain and Passivity Techniques in Nonlinear Control [M]. New York: Springer, 2000.

二级参考文献25

  • 1Kung Chung-Chun, Kao Tung-Yun, Chen Ti-Hung. Adaptive Fuzzy Sliding Mode Controller Design [C]. Proceedings of WCCI, 2002:674-679.
  • 2Choi Byung-Jae, Seo Kwak ng-Woo, Kim Byung Kook. Design and Stability Analysis of Single-Input Fuzzy Logic Controller [J]. IEEE Transaction on Systems, Man, and Cybernetics -Part B: Cybernetics.2000, 30: 303-309.
  • 3Tu Kuo-Yang, Lee Tsu-Tian, Wang Wen-Jieh. Design of a Multi-layer Fuzzy Logic Controller for Multi-input Multi-output System [J]. Fuzzy Sets and Systems, 2000, 111: 199-214.
  • 4Ta-Tau Chen, Tzuu-Hseng S Li. Simplex-type Fuzzy Sliding-mode Control [J]. Fuzzy Sets and Systems, 2001, 124: 249-261.
  • 5Tzafestas Spyros G, Rigatos Gerasimos G. Design and Stability Analysis of a New Sliding-Mode Fuzzy Logic Controller of Reduced Complexity [J]. Machine Intelligence & Robotic Control, 1999, 1:27-41.
  • 6Heejin Lee, Euntai Kim, Hyung-Jin Kang, et al. A New Sliding-mode Control with fuzzy boundary layer [J]. Fuzzy Sets and Systems, 2001, 120: 135-143.
  • 7Yi-Jen Mon, Chih-Min Lin. Hierarchical Fuzzy Sliding-Mode Control [C]. Proceedings of WCCI, 2002: 656-661.
  • 8Michael J Nalley, Mohamed B Trabia. Control of Overhead Cranes Using a Fuzzy Logic Controller [J]. Journal of Intelligent and Fuzzy System, 2000, (8): 1-18.
  • 9Lin Chih-Min, Hsu Chun-Fei. Decoupled Fuzzy Sliding-Mode Control of a Nonlinear Aeroelastic Structure [C]. Proceedings of WCCI, 2002: 662-667.
  • 10周进雄,张陵.机构动态仿真:使用MATLAB和Simulink[M].西安:西安交通大学出版社,2002.

共引文献11

同被引文献57

引证文献8

二级引证文献59

系统仿真学报
2008年 第18期

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