基于模型预测控制的桥式起重机防摆控制

Shimmy damping control of bridge crane based on model predictive control

针对桥式起重机水平定位和防摆控制,设计了基于线性模型预测的控制方法,运用拉格朗日方程建立系统模型并线性化。由于水平位移与速度的耦合性,设计了三次多项式形式的水平位移期望函数,以及二次多项式形式移动速度期望函数,以达到精确、平滑、小负载摆角运行的控制目标,并可用以实时控制。搭建Matlab/Simulink模型进行了仿真验证,表明此控制方式可使起重机在运动过程中速度平滑、定位精确、负载摆角小,无超调响应定位指令,并对负载质量变化、钢索长度变化具有良好的鲁棒性。与已有的模糊PID控制、LQR、线性自抗扰控制相比,负载摆角抑制效果分别提升87.4%、68.4%和55%。

Considering the horizontal positioning and shimmy damping control of bridge crane,a control method based on linear model prediction was designed,and the system model was established by lagrange’s equation and linearized.Due to the coupling between horizontal displacement and speed,the expected function of horizontal displacement in cubic polynomial and the expected function of moving speed in quadratic polynomial were designed to achieve the control on accurate,smooth and small load shimmy angle operation and can be used for real-time control.The Matlab/Simulink model was built for simulation verification.Results showed that the control method can ensure smooth speed,accurate positioning,small load shimmy angle,no overshoot response positioning command,and had good robustness in terms of load mass change and cable length change.Compared with the existing fuzzy PID,LQR and LADRC control of shimmy due to loads is levelled up by 87.4%,68.4%and 55%respectively.