阶段参数化智能调平控制系统的设计与仿真

Design and Simulation of Intelligent Leveling Controller with Double Parameters

针对受控对象柔性提升机构系统模型的强耦合、高度非线性的特点,采用阶段参数化方法处理调平控制过程的连续控制问题。基于拉格朗日理论建立提升系统的动力学模型;采用奇异摄动理论设计降低阶数的滑膜控制器;通过双时标变换将复杂的协调系统动力学方程分解成慢变子系统和快变子系统的阶段参数化控制系统。针对控制策略中选取参数的特点设计双时标变换滑膜控制器,实现控制系统的轨迹跟踪及对系统中弹性振动干扰的抑制。该控制系统从理论上缩短了系统调平时间,减少了系统需要测量的状态变量。仿真结果验证了所设计控制方法的有效性。

In this study, the continuous control problem of the leveling process was solved by using stage parametric approach, due to the strong coupling and the highly nonlinear characteristics of the flexible lifting mechanism＇s model. Firstly, based on the Lagrange theory, the dynamics model of hoist system was built. Then, a lower-order controller was designed by using the singular perturbation theory. Finally, through the double scale transformation of controller, the complex system was categorized into double parametric systems including slow and fast sub-model. Considering characteristics of selecting parameters of control strategy, the sliding mode controller of double parameters achieves two goals： the trajectory tracking and the suppression interference of the elastic vibration. This control system theoretically shortens the time consumed in the process of leveling, and reduces the state variables which need to be measured by the system. The simulation results show that the proposed control strategy is effective.