基于滑模变结构控制的龙门吊车防摆定位控制研究

发布时间：2018-04-29 14:01

本文选题：龙门吊车 + 变结构控制　；参考：《东北大学》2012年硕士论文

【摘要】：龙门吊车作为一种运输工具广泛应用于各种工业场合。但由于吊车自身结构的原因,负载在吊运过程中不可避免的会产生摆动,不仅降低了吊车的运行效率而且容易引起安全事故。因此,如何快速消除吊运过程中的摆动,长期以来是国内外控制领域研究的典型问题。本文研究内容分为三个部分：首先,针对吊车这一典型的欠驱动机械系统,采用拉格朗日方程建立了吊车系统的三维模型,以及近似条件下的线性化模型,并通过仿真实验验证了动力学模型的有效性。其次,针对三维龙门吊车的防摆定位控制设计了滑模变结构控制器。变结构控制中采用一种改进的等速趋近律,可有效地降低变结构控制中所产生的抖动,并使系统迅速达到平衡稳定状态。与PID控制相比,用滑模变结构设计的控制器,可使吊车的定位更加快速、准确且无超调,而且抗摆能力强。最后,通过在不同载荷质量、不同吊车自重、不同摩擦系数以及外部扰动情况下的系统仿真实验,得出滑模变结构控制在内部参数变化和外部扰动下,具有比其他一般控制方法更强的鲁棒性,便于实际应用。
[Abstract]:The gantry crane is widely used in various industrial occasions as a transport tool . However , due to the structure of the crane itself , the load is inevitable during the hoisting process , which not only reduces the operation efficiency of the crane but also causes the safety accident . Therefore , it is a typical problem of how to quickly eliminate the swinging during the hoisting process , and has long been a typical problem in the control field at home and abroad . The research contents are divided into three parts :

Firstly , aiming at the typical underactuated mechanical system of crane , a three - dimensional model of crane system is established by using Lagrange equation , and the linearized model under similar conditions is established , and the validity of the dynamic model is verified by simulation experiments .

Secondly , the sliding mode variable structure controller is designed aiming at the anti - swing positioning control of the three - dimensional gantry crane . In the variable structure control , an improved constant - speed approach law is adopted to effectively reduce the jitter generated in the variable structure control , and the system can quickly reach the equilibrium stable state . Compared with the PID control , the positioning of the crane can be more rapid , accurate and free of overshoot , and the anti - swing capability is strong .

Finally , through the system simulation experiment under different load mass , different crane weight , different friction coefficient and external disturbance , it is concluded that the sliding mode variable structure control has stronger robustness than other general control methods under the internal parameter change and external disturbance , which is convenient for practical application .

【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH213.5;TP273

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