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针对输入时滞的桥式起重机鲁棒控制

何博 方勇纯 卢彪

何博, 方勇纯, 卢彪. 针对输入时滞的桥式起重机鲁棒控制. 自动化学报, 2019, 45(6): 1065-1073. doi: 10.16383/j.aas.2018.c170506
引用本文: 何博, 方勇纯, 卢彪. 针对输入时滞的桥式起重机鲁棒控制. 自动化学报, 2019, 45(6): 1065-1073. doi: 10.16383/j.aas.2018.c170506
HE Bo, FANG Yong-Chun, LU Biao. Robust Control for an Overhead Crane With Input Delay. ACTA AUTOMATICA SINICA, 2019, 45(6): 1065-1073. doi: 10.16383/j.aas.2018.c170506
Citation: HE Bo, FANG Yong-Chun, LU Biao. Robust Control for an Overhead Crane With Input Delay. ACTA AUTOMATICA SINICA, 2019, 45(6): 1065-1073. doi: 10.16383/j.aas.2018.c170506

针对输入时滞的桥式起重机鲁棒控制

doi: 10.16383/j.aas.2018.c170506
基金项目: 

智能机器人国家重点研发计划 2018YFB1309000

详细信息
    作者简介:

    何博  南开大学机器人与信息自动化研究所博士研究生.2012年获天津大学电气工程及自动化学院学士学位.主要研究方向为桥式起重机的控制算法研究.E-mail:hebowf1990@126.com

    卢彪  南开大学机器人与信息自动化研究所博士研究生.主要研究方向为各类吊车的控制算法研究.E-mail:lub@nankai.edu.cn

    通讯作者:

    方勇纯  南开大学机器人与信息自动化研究所教授.2002年获得美国克莱姆森大学博士学位.主要研究方向为显智能机器人与非线性系统控制.本文通信作者.E-mail:fangyc@nankai.edu.cn

Robust Control for an Overhead Crane With Input Delay

Funds: 

National Key R & D Program of China 2018YFB1309000

More Information
    Author Bio:

    Ph. D. candidate at the Institute of Robotics and Automatic Information System, Nankai University. He received his bachelor degree from College of Electrical Engineering and Automation, Tianjin University in 2012. His research interest covers the control strategies for overhead cranes

    Ph. D. candidate at the Institute of Robotics and Automatic Information System, Nankai University. His main research interest covers the control strategies for different kinds of cranes

    Corresponding author: FANG Yong-Chun Professor at Institute of Robotics and Automatic Information System, Nankai University. He received his Ph. D. degree in electrical engineering from Clemson University, Clemson, SC, in 2002. His research interest covers intelligent robot and nonlinear system control. Corresponding author of this paper
  • 摘要: 针对工业桥式起重机输入信号存在时滞的问题,本文设计了一种鲁棒跟踪控制器.具体而言,本文通过分析欠驱动桥式起重机的特性,引入辅助系统,将时滞模型等效为不存在时滞的模型.在此基础上,考虑系统参数的不确定性,设计了一种鲁棒跟踪控制器.本文使用基于Lyapunov理论的稳定性分析及证明方法,通过建立Lyapunov-Krasovskii(LK)方程证明了位置跟踪误差以及摆角可以在有限时间内收敛到一个界内,且界的大小与控制增益负相关.完成控制器设计后,将其与工业上常用的比例-积分-微分(Proportion-integration-differentiation,PID)控制方法进行比较.仿真及实验结果表明,本文所设计的控制器优于PID控制器,具有良好的控制性能.
    1)  本文责任编委 李鸿一
  • 图  1  输入时滞对PID控制的影响

    Fig.  1  The influences of the input-delay to a PID controller

    图  2  存在输入时滞的鲁棒控制

    Fig.  2  Robust control with input-delay

    图  3  快速跟踪给定轨迹的PID控制

    Fig.  3  PID control with fast tracking speed

    图  4  不同负载质量下PID控制器控制效果

    Fig.  4  The performance of PID controller with different payload mass

    图  5  不同负载质量下鲁棒控制器控制效果

    Fig.  5  The performance of robust controller with different payload mass

    图  6  依据实验平台参数的仿真结果

    Fig.  6  Simulation results of the controller with the platform parameters

    图  7  PID控制器与鲁棒控制器的实验效果对比

    Fig.  7  Comparison of the experiment results between the PID controller and the robust controller

    图  8  改变负载质量时的控制效果

    Fig.  8  The performance of the controller when changing the payload mass

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出版历程
  • 收稿日期:  2017-09-10
  • 录用日期:  2018-01-01
  • 刊出日期:  2019-06-20

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