桥式吊车系统的部分反馈线性化控制研究

发布时间：2019-04-26 18:23

【摘要】：近年来,桥式吊车作为一种货物运输工具,其被广泛的应用于车间、仓库和造船厂等诸多工业场所。此外,桥式吊车作为一种典型的非线性欠驱动系统,其控制量的个数少于系统自由度,给其控制器设计带来了极大的挑战性。因此,桥式吊车的欠驱动特性使得其控制问题不仅具有重要的应用价值,而且具有一定的理论意义。为此,桥式吊车的控制问题受到了众多控制领域研究学者的关注,已经成为了控制领域的一个研究热点。桥式吊车系统的基本任务是将货物从初始点运送至目标位置,并且抑制和消除运送过程中的货物摆动。随着通信、计算机和自动控制技术的快速发展,已有众多学者对桥式吊车进行了大量研究,并将一些方法应用于桥式吊车系统的控制。然而,这些方法还存在着一些问题与不足。为此,本文针对桥式吊车系统的抗摆定位控制问题进行了深入研究。本文研究的主要内容概括如下:1.二维桥式吊车系统的抗摆定位控制。为了提高闭环系统的抗摆控制性能,提出了一种增强阻尼的控制方法。首先,基于一个与负载摆动有关的能量函数引入了一个阻尼信号。随后,构造了一个Lyapunov函数并设计了一种相应的非线性抗摆控制方法。利用Lyapunov方法和La Salle不变性原理证明了闭环系统在平衡点的渐近稳定性。最后给出了实验结果以验证所提方法的可行性和有效性。此外,为了证明所提方法优越的控制性能,论文还给出了所提方法与现有方法的对比测试。2.基于分段分析的桥式吊车控制器设计。为实现台车的精确定位与有效的消除负载摆动,本文通过分段控制分析构造了一个新的Lyapunov函数,并设计了一种非线性控制器。理论分析证明了闭环系统的稳定性。最后,借助仿真与实验测试对本文所提方法的控制性能进行了验证。3.三维桥式吊车系统的轨迹跟踪控制。为了提高吊车系统的灵活性,本文提出了一种增强抗摆的跟踪控制器,其既可用于轨迹跟踪控制,也可用于调节控制。论文将吊车系统转换为由两个子系统组成的一个互联形式,在此基础上设计了一种新型的轨迹跟踪控制器。理论分析证明两个子系统和互联系统均为输入-状态稳定的,并且闭环系统在平衡点是渐近稳定的。最后,论文对该方法的轨迹跟踪控制和调节控制效果进行了大量的实验测试。4.三维桥式吊车系统的调节控制。为提高吊车系统的运送效率和保证系统的安全性,本文基于能量整形的方法,设计了一种性能良好的调节控制器。首先,通过求解偏微分方程,得到了一个合适的能量函数,进而提出了一种调节控制器。随后,借助Lyapunov方法和La Salle不变性原理分析了闭环系统的稳定性。最后,为证明该控制策略的实际控制性能,论文提供了详细的仿真与实验测试结果。
[Abstract]:In recent years, bridge crane is widely used in workshop, warehouse and shipyard as a kind of cargo transportation tool. In addition, as a typical nonlinear underactuated system, the number of control variables of bridge crane is less than the degree of freedom of the system, which brings great challenge to its controller design. Therefore, the underactuated characteristic of bridge crane not only has important application value, but also has certain theoretical significance. Therefore, the control problem of bridge crane has been paid attention to by many researchers in the field of control, and has become a research hotspot in the field of control. The basic task of the bridge crane system is to transport the goods from the initial point to the target position, and to restrain and eliminate the movement of the goods in the process of transportation. With the rapid development of communication, computer and automatic control technology, many scholars have done a lot of research on bridge crane and applied some methods to the control of bridge crane system. However, there are still some problems and shortcomings in these methods. Therefore, the anti-pendulum positioning control of bridge crane system is deeply studied in this paper. The main contents of this paper are summarized as follows: 1. Anti-pendulum positioning control of two-dimensional bridge crane system. In order to improve the anti-pendulum control performance of closed-loop system, a damping-enhanced control method is proposed. Firstly, a damping signal is introduced based on an energy function related to load swing. Then, a Lyapunov function is constructed and a nonlinear anti-pendulum control method is designed. By using the Lyapunov method and the La Salle invariance principle, the asymptotic stability of the closed-loop system at the equilibrium point is proved. Finally, the experimental results are given to verify the feasibility and effectiveness of the proposed method. In addition, in order to prove the superior control performance of the proposed method, the comparison test between the proposed method and the existing method is given. Design of bridge crane controller based on piecewise analysis. In order to realize accurate positioning and effective elimination of load swings, a new Lyapunov function is constructed by means of piecewise control analysis, and a nonlinear controller is designed. The stability of the closed-loop system is proved by theoretical analysis. Finally, the control performance of the proposed method is verified by means of simulation and experimental tests. 3. Trajectory tracking control of three-dimensional bridge crane system. In order to improve the flexibility of crane system, this paper presents an enhanced anti-pendulum tracking controller, which can be used not only for trajectory tracking control, but also for regulating control. In this paper, the crane system is transformed into an interconnected form of two subsystems. Based on this, a new trajectory tracking controller is designed. The theoretical analysis shows that the two subsystems and interconnected systems are input-state stable and the closed-loop system is asymptotically stable at the equilibrium point. Finally, a large number of experiments have been carried out to test the trajectory tracking control and adjusting control effect of this method. 4. Regulation and control of three-dimensional bridge crane system. In order to improve the transportation efficiency of crane system and ensure the safety of the system, based on the method of energy shaping, a kind of regulating controller with good performance is designed in this paper. Firstly, a suitable energy function is obtained by solving the partial differential equation, and then a kind of regulating controller is proposed. Then, the stability of the closed-loop system is analyzed by means of Lyapunov method and La Salle invariance principle. Finally, in order to prove the actual control performance of the control strategy, detailed simulation and experimental results are provided.
【学位授予单位】：浙江工业大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TH215

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