【作者】 潘静； 忻欣； 鄢宇航； 刘延年；

【Author】 Jing Pan;Xin Xin;Yuhang Yan;Yannian Liu;School of Automation, Southeast University;Faculty of Computer Science and Systems Engineering, Okayama Prefectural University;

【机构】 东南大学自动化学院； 冈山县立大学计算机科学与系统工程学院；

【摘要】 本文对一种新颖的状态耦合增强控制策略进行了深入的研究,并推广至二维桥式吊车系统的负载消摆任务。特别地,当负载不受摩擦作用时,负载消摆更加困难,而本文证明了该方法仍能快速地抑制负载摆角。通过构造由推车速度与负载摆角速度组成的复合速度信号,系统状态之间的耦合得到了增强。负载摆角信息被添加至控制器中,使系统对负载运动状态的响应更加高效,从而提升了负载抑摆的性能。利用李雅普诺夫第二法及拉塞尔不变性原理,文中对闭环系统的稳定性进行了严格的证明。最后,仿真及实验结果也表明了控制器的可行性和有效性。更多还原

【Abstract】 In this paper, a novel state-coupling enhanced control strategy is studied and extended to the payload swing suppression of 2D overhead cranes. In particular, when the payload is not affected by friction, the payload swing suppression is more difficult, and this paper proves that the strategy can still quickly suppress the payload swing. The coupling between system states is enhanced by constructing a composite velocity signal consisting of the cart velocity and the payload angular velocity. The payload swing information is added to the proposed controller to make the system respond more efficiently to the payload motion, which improves the performance of swing suppression. The stability of the closed-loop system is strictly proven by Lyapunov-based techniques and Lasalle’s invariance principle. Finally,the simulation and experimental results are presented to validate the feasibility and effectiveness of the proposed controller.更多还原