【摘要】 针对塔式起重机在工程应用中因多种因素影响经常表现双摆特性问题，本文设计一种预设性能自适应跟踪控制器，在保证台车和起重臂快速定位的同时抑制吊钩和负载的摆动，且跟踪误差限制在设计的时变界内.通过李雅普诺夫方法和拉塞尔不变性原理证明本文控制器的稳定性.与LQR、ESC控制器进行仿真对比，并对起重机搬运的连贯动作(变负载)进行测试，结果表明本文控制器具有良好的定位精度和抗摆动能力.更多还原

【Abstract】 Due to a variety of factors, tower cranes often exhibit double-pendulum in engineering applications. In this paper, a strategy of adaptive tracking control with Prescribed Performance is proposed for double-pendulum tower crane systems. The method can not only ensure the fast positioning of the jib and trolley, but also suppress the swing of the hook and payload, and the tracking error can be limited to the designed time-varying domain. The stability of the system is proved by the Lyapunov technique and LaSalle’s invariance theorem. The results of simulations comparing the LOR and ESC controllers, along with tests conducted on the continuous motion(variable load) of crane lifting, indicated that the controller proposed in this study exhibits exceptional positioning accuracy and effective anti-sway capabilities.更多还原