Dong Li, Tianhu Xie, Guowe Li, Songming Hu, Jingfeng Yao
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Second, the error-coupled trajectory signal is integrated into the energy function, and leveraging adaptive principles, an adaptive coupled trajectory tracking anti-swing control strategy is proposed to estimate uncertain system parameters online. Subsequently, the asymptotic stability of the equilibrium point of the closed-loop system is verified using the Lyapunov techniques and the Barbalat lemma. Finally, through simulations and experiments, it is demonstrated that the proposed control strategy not only ensures precise positioning of the trolley and bridge but also effectively suppresses oscillations of the hook and load, exhibiting excellent control performance. 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引用次数: 0
摘要
在三维双摆桥式起重机的运输过程中,系统受到双摆效应带来的明显耦合的显著影响,这对开发有效的防摆动控制策略提出了相当大的挑战。此外,某些系统参数的不确定性和小车定位的误差也增加了防摆动控制策略设计的复杂性。针对这些实际问题,我们提出了一种控制策略:首先,引入定位误差最小的 S 型运输轨迹,在耦合信号设计中加入更多系统参数,以增强系统耦合。在此基础上,引入误差耦合轨迹信号。其次,将误差耦合轨迹信号集成到能量函数中,并利用自适应原理,提出了一种自适应耦合轨迹跟踪防摆动控制策略,以在线估计不确定的系统参数。随后,利用 Lyapunov 技术和 Barbalat Lemma 验证了闭环系统平衡点的渐进稳定性。最后,通过模拟和实验证明,所提出的控制策略不仅能确保小车和桥梁的精确定位,还能有效抑制吊钩和负载的振荡,表现出卓越的控制性能。即使在系统参数发生变化或引入外部干扰的情况下,所提出的控制策略也能表现出很强的鲁棒性,具有很大的实用潜力。
Research on adaptive coupling trajectory tracking anti-swing control strategy for three-dimensional double-pendulum overhead crane
In the transportation process of a three-dimensional double-pendulum overhead crane, the system is significantly influenced by the pronounced coupling introduced by the double-pendulum effect, posing a considerable challenge for the development of effective anti-swing control strategies. Moreover, uncertainties in certain system parameters and errors in trolley positioning contribute to the complexity of anti-swing control strategy design. To address these practical issues, a control strategy is proposed: First, an S-shaped transport trajectory with minimal positioning error is introduced, incorporating more system parameters into the coupling signal design to enhance system coupling. Based on this, an error-coupled trajectory signal is introduced. Second, the error-coupled trajectory signal is integrated into the energy function, and leveraging adaptive principles, an adaptive coupled trajectory tracking anti-swing control strategy is proposed to estimate uncertain system parameters online. Subsequently, the asymptotic stability of the equilibrium point of the closed-loop system is verified using the Lyapunov techniques and the Barbalat lemma. Finally, through simulations and experiments, it is demonstrated that the proposed control strategy not only ensures precise positioning of the trolley and bridge but also effectively suppresses oscillations of the hook and load, exhibiting excellent control performance. Even in scenarios where system parameters undergo changes or external disturbances are introduced, the proposed control strategy exhibits strong robustness and holds significant practical potential.
期刊介绍:
Transactions of the Institute of Measurement and Control is a fully peer-reviewed international journal. The journal covers all areas of applications in instrumentation and control. Its scope encompasses cutting-edge research and development, education and industrial applications.