基于T-S模糊模型的桥吊系统积分状态反馈控制

Integral state feedback control of bridge crane system based on T-S fuzzy model

小车定位精度和负载摆角大小是桥式起重机控制系统的两个重要性能指标。采用状态反馈控制时小车位移会存在稳态误差,为了消除稳态误差,提高系统的定位精度,给出基于T-S模糊模型的积分状态反馈控制方法。在桥式起重机非线性动力学模型基础上,建立增维T-S模糊模型,基于所建模型设计并行结构的积分状态反馈控制器,通过线性矩阵不等式计算反馈增益矩阵,并对闭环系统的稳定性进行分析。实验结果表明积分状态反馈控制不仅可以提高系统的定位精度,减少定位时间,而且有较好的抗干扰能力。

Trolley positioning accuracy and load swing angle are two important performance indexes of the bridge crane control system.When the state feedback control is adopted,there will be steady-state error in the trolley displcement.In order to eliminate the steady-state error and improve the positioning accuracy of the system,an integral state feedback control method based on T-S fuzzy model is presented.On the base of the nonlinear dynamic model of the bridge crane,an increasing dimension T-S fuzzy model is established.Based on the model,an integral state feedback controller with parallel structure is designed.The feedback gain matrices are calculated by linear matrix inequality,and the stability of the closed-loop system is analyzed.The experimental results show that the integrated state feedback control can not only improve the positioning accuracy of the system,reduce the positioning time,but also have better anti-disturbance ability.