【摘要】：近年來(lái),橋式吊車作為一種貨物運(yùn)輸工具,其被廣泛的應(yīng)用于車間、倉(cāng)庫(kù)和造船廠等諸多工業(yè)場(chǎng)所。此外,橋式吊車作為一種典型的非線性欠驅(qū)動(dòng)系統(tǒng),其控制量的個(gè)數(shù)少于系統(tǒng)自由度,給其控制器設(shè)計(jì)帶來(lái)了極大的挑戰(zhàn)性。因此,橋式吊車的欠驅(qū)動(dòng)特性使得其控制問(wèn)題不僅具有重要的應(yīng)用價(jià)值,而且具有一定的理論意義。為此,橋式吊車的控制問(wèn)題受到了眾多控制領(lǐng)域研究學(xué)者的關(guān)注,已經(jīng)成為了控制領(lǐng)域的一個(gè)研究熱點(diǎn)。橋式吊車系統(tǒng)的基本任務(wù)是將貨物從初始點(diǎn)運(yùn)送至目標(biāo)位置,并且抑制和消除運(yùn)送過(guò)程中的貨物擺動(dòng)。隨著通信、計(jì)算機(jī)和自動(dòng)控制技術(shù)的快速發(fā)展,已有眾多學(xué)者對(duì)橋式吊車進(jìn)行了大量研究,并將一些方法應(yīng)用于橋式吊車系統(tǒng)的控制。然而,這些方法還存在著一些問(wèn)題與不足。為此,本文針對(duì)橋式吊車系統(tǒng)的抗擺定位控制問(wèn)題進(jìn)行了深入研究。本文研究的主要內(nèi)容概括如下:1.二維橋式吊車系統(tǒng)的抗擺定位控制。為了提高閉環(huán)系統(tǒng)的抗擺控制性能,提出了一種增強(qiáng)阻尼的控制方法。首先,基于一個(gè)與負(fù)載擺動(dòng)有關(guān)的能量函數(shù)引入了一個(gè)阻尼信號(hào)。隨后,構(gòu)造了一個(gè)Lyapunov函數(shù)并設(shè)計(jì)了一種相應(yīng)的非線性抗擺控制方法。利用Lyapunov方法和La Salle不變性原理證明了閉環(huán)系統(tǒng)在平衡點(diǎn)的漸近穩(wěn)定性。最后給出了實(shí)驗(yàn)結(jié)果以驗(yàn)證所提方法的可行性和有效性。此外,為了證明所提方法優(yōu)越的控制性能,論文還給出了所提方法與現(xiàn)有方法的對(duì)比測(cè)試。2.基于分段分析的橋式吊車控制器設(shè)計(jì)。為實(shí)現(xiàn)臺(tái)車的精確定位與有效的消除負(fù)載擺動(dòng),本文通過(guò)分段控制分析構(gòu)造了一個(gè)新的Lyapunov函數(shù),并設(shè)計(jì)了一種非線性控制器。理論分析證明了閉環(huán)系統(tǒng)的穩(wěn)定性。最后,借助仿真與實(shí)驗(yàn)測(cè)試對(duì)本文所提方法的控制性能進(jìn)行了驗(yàn)證。3.三維橋式吊車系統(tǒng)的軌跡跟蹤控制。為了提高吊車系統(tǒng)的靈活性,本文提出了一種增強(qiáng)抗擺的跟蹤控制器,其既可用于軌跡跟蹤控制,也可用于調(diào)節(jié)控制。論文將吊車系統(tǒng)轉(zhuǎn)換為由兩個(gè)子系統(tǒng)組成的一個(gè)互聯(lián)形式,在此基礎(chǔ)上設(shè)計(jì)了一種新型的軌跡跟蹤控制器。理論分析證明兩個(gè)子系統(tǒng)和互聯(lián)系統(tǒng)均為輸入-狀態(tài)穩(wěn)定的,并且閉環(huán)系統(tǒng)在平衡點(diǎn)是漸近穩(wěn)定的。最后,論文對(duì)該方法的軌跡跟蹤控制和調(diào)節(jié)控制效果進(jìn)行了大量的實(shí)驗(yàn)測(cè)試。4.三維橋式吊車系統(tǒng)的調(diào)節(jié)控制。為提高吊車系統(tǒng)的運(yùn)送效率和保證系統(tǒng)的安全性,本文基于能量整形的方法,設(shè)計(jì)了一種性能良好的調(diào)節(jié)控制器。首先,通過(guò)求解偏微分方程,得到了一個(gè)合適的能量函數(shù),進(jìn)而提出了一種調(diào)節(jié)控制器。隨后,借助Lyapunov方法和La Salle不變性原理分析了閉環(huán)系統(tǒng)的穩(wěn)定性。最后,為證明該控制策略的實(shí)際控制性能,論文提供了詳細(xì)的仿真與實(shí)驗(yàn)測(cè)試結(jié)果。
[Abstract]:In recent years, bridge crane is widely used in workshop, warehouse and shipyard as a kind of cargo transportation tool. In addition, as a typical nonlinear underactuated system, the number of control variables of bridge crane is less than the degree of freedom of the system, which brings great challenge to its controller design. Therefore, the underactuated characteristic of bridge crane not only has important application value, but also has certain theoretical significance. Therefore, the control problem of bridge crane has been paid attention to by many researchers in the field of control, and has become a research hotspot in the field of control. The basic task of the bridge crane system is to transport the goods from the initial point to the target position, and to restrain and eliminate the movement of the goods in the process of transportation. With the rapid development of communication, computer and automatic control technology, many scholars have done a lot of research on bridge crane and applied some methods to the control of bridge crane system. However, there are still some problems and shortcomings in these methods. Therefore, the anti-pendulum positioning control of bridge crane system is deeply studied in this paper. The main contents of this paper are summarized as follows: 1. Anti-pendulum positioning control of two-dimensional bridge crane system. In order to improve the anti-pendulum control performance of closed-loop system, a damping-enhanced control method is proposed. Firstly, a damping signal is introduced based on an energy function related to load swing. Then, a Lyapunov function is constructed and a nonlinear anti-pendulum control method is designed. By using the Lyapunov method and the La Salle invariance principle, the asymptotic stability of the closed-loop system at the equilibrium point is proved. Finally, the experimental results are given to verify the feasibility and effectiveness of the proposed method. In addition, in order to prove the superior control performance of the proposed method, the comparison test between the proposed method and the existing method is given. Design of bridge crane controller based on piecewise analysis. In order to realize accurate positioning and effective elimination of load swings, a new Lyapunov function is constructed by means of piecewise control analysis, and a nonlinear controller is designed. The stability of the closed-loop system is proved by theoretical analysis. Finally, the control performance of the proposed method is verified by means of simulation and experimental tests. 3. Trajectory tracking control of three-dimensional bridge crane system. In order to improve the flexibility of crane system, this paper presents an enhanced anti-pendulum tracking controller, which can be used not only for trajectory tracking control, but also for regulating control. In this paper, the crane system is transformed into an interconnected form of two subsystems. Based on this, a new trajectory tracking controller is designed. The theoretical analysis shows that the two subsystems and interconnected systems are input-state stable and the closed-loop system is asymptotically stable at the equilibrium point. Finally, a large number of experiments have been carried out to test the trajectory tracking control and adjusting control effect of this method. 4. Regulation and control of three-dimensional bridge crane system. In order to improve the transportation efficiency of crane system and ensure the safety of the system, based on the method of energy shaping, a kind of regulating controller with good performance is designed in this paper. Firstly, a suitable energy function is obtained by solving the partial differential equation, and then a kind of regulating controller is proposed. Then, the stability of the closed-loop system is analyzed by means of Lyapunov method and La Salle invariance principle. Finally, in order to prove the actual control performance of the control strategy, detailed simulation and experimental results are provided.
【學(xué)位授予單位】：浙江工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TH215

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