欠驱动吊车负载水平运送及落吊有界跟踪消摆控制方法.pdfVIP

欠驱动吊车负载水平运送及落吊有界跟踪消摆控制方法 ∗ 孙宁 , 方勇纯 1. 南开大学机器人与信息自动化研究所, 天津300071 E-mail: sunn,yfang@robot.nankai.edu.cn 摘 要: 对于吊车系统而言，其水平负载运送及落吊过程中的防摆控制对其安全及效率具有重要意义；另一方面，已有 的吊车控制方法均仅能保证闭环系统的(跟踪) 误差信号渐近收敛，而无法保证整个过程中误差信号的变化范围。为此， 本文提出了一种新型的吊车消摆控制策略，能够同时实现负载的落吊运动及水平运送，有效地抑制整个工作过程中的负 载摆动。不同于已有的吊车控制策略，该方法可根据实际需求预先设定跟踪误差的变化范围，并能在理论上保证台车在 水平方向、负载在竖直方向上的跟踪误差始终保持在设定的范围内，并最终收敛于零。文中借助Lyapunov 方法对闭环 系统信号的有界性及收敛性进行了分析。数值仿真与实际实验结果均表明本文方法具有良好的控制性能，对外界扰动具 有较好的鲁棒性。 关键词: 欠驱动吊车，轨迹跟踪，消摆控制，有界跟踪 Bounded Tracking and Anti-Swing Control of Underactuated Cranes for Payload Transportation and Lowering ∗ SUN Ning , FANG Yongchun 1. Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300071 E-mail: sunn,yfang@robot.nankai.edu.cn Abstract: For crane systems, anti-swing control for the payload horizontal transferring and vertical lowering processes is of significant importance to safety and efficiency. On the other hand, existing crane control methods can only achieve asymptotic stabilization/tracking results, while the varying ranges of error signals during the control process cannot be ensured. To address the control problem, we present a novel swing elimination control scheme that can effectively minimize the payload swing angle while achieving precise horizontal and vertical tracking control. In addition, different from all existing crane control methods reported in the literature, the proposed method admits us to preset the allowable tracking error bounds in advance; it can theoretically guarantee the tracking errors, both horizo