摘要
本文针对旋转起重机系统中旋臂定位和两级摆动抑制问题,提出一种含有非线性滑模面的滑模控制算法.不同于传统的线性滑模面,非线性滑模面可以使闭环系统的阻尼比从开始的较小值变化为最终的较大值.较小的阻尼比可以为系统提供较快的响应速度而较大的阻尼比则可减小超调量从而使得旋臂更加精确地跟踪给定轨迹.通过李雅普诺夫定理验证系统稳定性.比较仿真结果表明,该方法在实现摆角抑制的同时,起伏角和旋转角的跟踪误差分别降低了大约40%和52%.
This paper proposes a novel sliding mode controller with nonlinear sliding surface for achieving both highprecision tracking control and double-pendulum load sway suppression.Unlike the traditional linear sliding surface,the nonlinear one can change the damping ratio of the closed-loop system from its initial low value to final high value.The low value can provide a quick response whereas the high one can eliminate overshoot to make boom track the given trajectory more precisely.The stability of the whole system is proven by the Lyapunov technique.Comparative simulations indicate that the tracking error for vertical and horizontal boom motions can be reduced about 40%and 52%,respectively,the double-pendulum load sways can be suppressed as well.
作者
欧阳慧珉
王健
张广明
梅磊
邓歆
OUYANG Hui-Min;WANG Jian;ZHANG Guang-Ming;MEI Lei;DENG Xin(College of Electrical Engineering and Control Science,Nan-jing Tech University,Nanjing 211816)
出处
《自动化学报》
EI
CSCD
北大核心
2019年第7期1344-1353,共10页
Acta Automatica Sinica
基金
国家自然科学基金(61703202)
江苏省重点研发计划(BE2017164)资助~~
关键词
旋转起重机
双摆效应
跟踪控制
消摆控制
非线性滑模面
Rotary crane
double-pendulum effect
tracking control
anti-sway control
nonlinear sliding surface