起重机吊重系统鲁棒滑模观测器设计

Robust sliding mode observer's design for crane-load system

为了实现起重机吊重系统状态变量的观测,设计起重机吊重系统鲁棒滑模状态观测器,利用便于测量的小车位置信息或小车位置与速度信息,通过合理选取滑模参数矩阵和观测器增益参数矩阵,使观测器动力学矩阵是Hurwitz矩阵,不仅可以使观测器渐近地估计出全部系统状态变量,而且观测器对系统的外界有界干扰具有较强的鲁棒性。仿真结果表明:当选择小车位置信息作为观测器的输入时,各状态变量的观测偏差在约1.5s时渐近地趋于零;当选择小车位置和速度信息作为观测器的输入时,各状态变量的观测偏差在约3.5s时渐近地趋于零;观测器不仅对系统模型中的非线性不确定项具有鲁棒性,而且对不同形式的小车驱动力具有良好的适应性。

In order to realize the observation of state variables of crane-load system, the robust sliding mode observer is designed, the convenient measurement trolley＇s position information or the trolley＇s position and velocity information make the observors＇ dynamic matrix be Hurwitz matrix through rational selection of sliding mode parameter matrix and the observer gain parame- ter matrix. The observer can not only asymptotically estimate all state variables, but also have stronger robustness for external bounded disturbance. Simulation experiment results show. every state variable＇s observation error asymptotically converged zero at about 1.5 s when the trolley＇s position is observers＇ input ; every state variable＇s observation error asymptotically converged ze- ro at about 3.5 s when the trolley＇s position and velocity information are observers＇ inputs; the observer has robustness for system model＇s nonlinear uncertainly; the observer has favorable a- daptability for input form of the trolley＇s driving force.