摘要
利用欧拉-拉格朗日方程建立了桥式起重机系统的动态模型,通过对系统进行无源性分析,构造了控制Lyapunov能量函数,设计了一种无源分数阶控制器,并研究了最佳的分数阶阶次应用区间,该控制器实现了小车的快速定位和负载防摆的效果,相比以往的无源PD控制器,提高了系统的鲁棒性和动态性能。仿真结果验证了所提控制方案的有效性。
The dynamic model of overhead crane was derived with Euler-Lagrangian method. The characteristic of passivity of system was analyzed,and a control Lyapunov function was structured. A stabilization derivative control-ler combined with fractional order was designed,and the best application interval of fractional order gama was stud-ied. The simulation results showed that the controller realized accurate positioning of trolley and obvious anti-swing of load,which verified the effectiveness of the proposed control scheme.
出处
《太原科技大学学报》
2014年第2期132-136,共5页
Journal of Taiyuan University of Science and Technology
基金
国家自然基金(51075289)
山西省自然科学基金(2012011027-4)
太原科技大学博士启动基金(20121024)
太原科技大学研究生科技创新项目(20134028)
关键词
无源控制
分数阶
控制李雅普诺夫函数
防摆
passivity-based control
fractional order
proportional-derivative control
control lyapunov function
anti-swing
