基于无源性的三维桥式起重机定位和防摆控制

Positioning and Anti-swing Control Based on Passivity for Three-dimensional Overhead Crane

在起重机三维空间数学模型的基础上,分析系统的无源性特点,并从能量角度出发,修正Lyapunov能量函数,设计了无源性PD反馈控制器。这种方法从全局定义变量,无奇异点,确保系统达到理想状态,具有控制结构简单,动态响应性能优良,鲁棒性好的优点。仿真研究结果表明该控制律能实现起重机小车的精确定位和负载的消摆。

The systematic characteristics of passivity were analyzed based on the three-dimensional crane mathemat- ical model, the Lyapunov energy function was amended from the energy point of view, and the PD feedback control- ler of passivity was designed. To ensure the system to achieve the ideal state, this approach defined the global varia- ble, which has no singular point. The system has simple structure, good performances of dynamic response and ex- cellent robustness. The simulation results indicate that this controller can realize the objective with exact positioning of the crane trolley and anti-swing of the load.