Development of the Discrete Algorithm of Stabilizing for «Suspended Load» Model Object

Abstract

In this paper, the problem of developing a discrete algorithm of stabilizing for the «suspended load» model object is discussed. A system of differential equations describing the behavior of a «suspended load» object was presented, and a synthesis problem was formulated. A study of the properties of an object based on its nonlinear model has been carried out. It was proposed to divide the control action into two components, each of which solves its own problem. The stabilizing algorithm of this system based on the localization method and PD-controller was developed. A method of estimating of state vector was proposed. It was proposed to use one first-order (for carriage subsystem) and one second-order (for load subsystem) filters to find the full vector of state estimates. After that, a discrete implementation of algorithm was performed. Simulating of stabilizing system by means of Matlab Simulink integrated environment allow proving that the system works out the predetermined initial conditions in a required transient time. The stabilizing algorithm considered in this article copes with its task equally well in both continuous and discrete control systems.