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欠驱动三维桥式吊车系统自适应跟踪控制器设计 被引量：24

Adaptive Trajectory Tracking Control of Underactuated 3-dimensional Overhead Crane Systems
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摘要 针对三维桥式吊车系统的欠驱动特性,设计了一种目标轨迹自适应跟踪控制器.相比其他常规的三维桥式吊车控制器,它不需要对吊车模型进行任何近似解耦或线性化处理,并且考虑了系统所受的摩擦力与空气阻力等干扰.在负载质量和吊绳绳长等发生变化或存在不确定因素的情况下,它依然能实现对台车的精确定位与负载摆动的有效抑制.对于闭环系统的稳定性,文中通过Lyapunov方法和芭芭拉定理对其进行了理论分析,随后的实验结果也表明了这种自适应跟踪控制器良好的控制性能和对不确定性因素的适应性. In this paper,an adaptive trajectory tracking controller is proposed for 3-dimensional（3D） underactuated overhead cranes.Considering system frictions and air resistances,this controller is put forward without approximately decoupling or linearizing the complicated nonlinear model of 3D overhead cranes.The proposed controller can accurately position the trolley as well as suppress the payload swing even in the presence of uncertainties of system parameters.The stability of the closed-loop system is proved by Lyapunov techniques and Barbalat s lemma.Subsequent experiment results also demonstrate that the designed controller can achieve a superior performance for underactuated 3D overhead cranes.
作者 孙宁 方勇纯 王鹏程 张雪波
机构地区 南开大学机器人与信息自动化研究所
出处 《自动化学报》 EI CSCD 北大核心 2010年第9期1287-1294,共8页 Acta Automatica Sinica
基金 国家自然科学基金(60875055) 新世纪优秀人才支持计划(NCET-06-0210) 天津市自然科学基金(08JCZDJC21800)资助~~
关键词 桥式吊车 自适应跟踪控制 不确定性 摆动抑制 Overhead crane adaptive tracking control uncertainties suppression of swing
分类号 TP273 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献12

  • 1Fang Y C, Zergeroglu E, "Dixon W E, Dawson D M. Nonlinear coupling control laws for an overhead crane system. In: Proceedings of the 2001 IEEE Conference on Control Applications. Mexico City, Mexico: IEEE, 2001. 639-644.
  • 2王伟,易建强,赵冬斌,刘殿通.桥式吊车系统的分级滑模控制方法[J].自动化学报,2004,30(5):784-788. 被引量：35
  • 3刘殿通,易建强,谭民.一类非线性系统的自适应滑模模糊控制[J].自动化学报,2004,30(1):143-150. 被引量：17
  • 4马博军,方勇纯,王宇韬,姜钟平.欠驱动桥式吊车系统自适应控制[J].控制理论与应用,2008,25(6):1105-1109. 被引量：28
  • 5Khalid A, Singhose W, Huey J, Lawrence J, Frakes D. Study of operator behavior, learning, and performance using an input-shaped bridge crane. In: Proceedings of the 2004 IEEE Conference on Control Applications. Taipei, China: IEEE, 2004. 759-764.
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  • 7Cho S K, Lee H H. An anti-swing control of a 3-dimensional overhead crane. In: Proceedings of the American Control Conference. Illinois, USA: IEEE, 2000. 1037-1041.
  • 8Fang Y C, Dixon W E, Dawson D M, Zergeroglu E. Non- linear coupling control laws for an underactuated overhead crane system. IEEE/ASME Transactions on Mechatronics, 2003, 8(3): 418-423.
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  • 10Aschemann H, Sawodny O, Lahres S, Hofer E. Disturbance estimation and compensation for trajectory control of an overhead crane. In: Proceedings of the American Control Conference. Illinois, USA: IEEE, 2000. 1027-1031.

二级参考文献22

  • 1FANG Y, ZERGEROGLU E, DIXON W E, et al. Nonlinear coupling control laws for an overhead crane system[C]//Proceedings of the IEEE Conference on Control Applications. Mexico: IEEE Press, 2001, 12: 639- 644.
  • 2FANG Y, DIXON W E, DAWSON D M, et al. Nonlinear coupling control laws for an overhead crane system[J]. IEEE/ASME Transactions on Mechatronics, 2003, (8)3:418 - 423.
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  • 6BEHAL A, SETLUR P, DIXON W E, et al. Adaptive position and orientation regulation for the camera-in-hand problem[J]. Journal of Robotic Systems, 2005, 22(9): 457 - 473.
  • 7KHALIL H K. Nonlinear Systems[M]. 3rd Edition. New Jersey: Prentice-Hall, 2002.
  • 8HUSSEIN I, BLOCH A. Optimal control of underactuated nonholonomic mechanical systems[CV/Proceedings of the 2006 American Control Conference. Minnesota, USA: IEEE Press, 2006, 6:5590 - 5595.
  • 9AGUILAR L T, BOIKO I, FRIDMAN L, et al. Generation of periodic motions for underactuated mechanical system via second-order sliding-modes[C]//Proceedings of the 2006 American Control Conference. Minnesota, USA: IEEE Press, 2006, 6:5396 - 5400.
  • 10CHANG C, HSU S, CHIANG K. The switching fuzzy controller of the overhead crane system[C]//Proceedings of the 2004 IEEE Conference on Control Applications. Taiwan, China: IEEE Press, 2004, 12:753 - 758.

共引文献68

同被引文献205

引证文献24

二级引证文献149

自动化学报
2010年 第9期

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