迭代学习控制在吊车-双摆系统中的应用研究

Application of iterative learning control in double-pendulum-type crane system

适用于双摆模型系统的吊车在运送相同批次,相同型号货物,并且在保证搬运货物的轨迹相同的情况下,其运动轨迹具有极高的重复特性。提出了基于迭代学习控制的吊车-双摆系统位置和速度控制方法,建立了吊车-双摆系统的静态模型,设计了关于位置和速度控制的迭代学习控制算法,理论上分析了算法的收敛性。仿真结果表明,在经过80次左右的学习之后,吊车-双摆系统的输出能够可以较好地跟踪上期望轨迹,获得较高的控制精度,验证了控制方法的有效性。

The double-pendulum-type crane system has strong repeatability in transport with same goods style and a fixed route. The location and speed control method for double-pendulum-type crane based on iterative learning con- trol is proposed. A two-dimensional mathematical model of double-pendulum-type crane system is first established and then the PD-type iterative learning control rule is given. The simulation results show that after about 80 times of iterative learning, the double-pendulum-system crane output can better track on the desired trajectory to meet the expected control effect. A simulation example is also given to illustrate the effectiveness of the proposed method.