带误差约束的缆索起重机自动避障控制系统

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Shenghao Tong, Jinbao Zhao, Peng Zhou, Ke Zhang, Donggang Liu, Yanze Long
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引用次数: 0

摘要

针对缆索起重机运行中自动避障效率低的问题,提出了一种带误差约束函数的动态滑模避障控制方法。首先,考虑小车与障碍物之间的几何位置关系,基于正弦函数构造具有自主规划路径的避障轨迹,减少了对障碍物几何参数的过多要求;其次,设计带有误差约束函数的动态滑动面,将系统的跟踪误差控制在预设范围内;最后,利用Barbarat引理和Lyapunov定理严格证明了系统的稳定性。仿真和实验结果表明,与其他方法相比,本文所提出的控制器减小了负载运行时的最大摆角,缩短了负载达到稳定状态所需的时间,并将负载避障轨迹的误差跟踪精确地限制在0.02 m以内。在实验中也表现出了良好的避障性能。因此,本文提出的控制器可以完成障碍物的避障功能,实现对负载的准确定位和快速防晃效果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Automatic Obstacle Avoidance Control System for Cable Crane With Error Constraints

Automatic Obstacle Avoidance Control System for Cable Crane With Error Constraints

To solve the problem of low efficiency of automatic obstacle avoidance in the operation of cable cranes, this paper proposes a dynamic sliding mode obstacle avoidance control method with an error constraint function. First, considering the geometric position relationship between the trolley and the obstacle, an obstacle avoidance trajectory with an autonomously planned path is constructed based on the sine function, which reduces the excessive requirements for the geometric parameters of the obstacle. Second, a dynamic sliding surface with an error constraint function is designed to control the system's tracking error within a preset range. Finally, the stability of the system is strictly proved by using Barbarat's lemma and Lyapunov's theorem. The simulation results and experiments show that compared with other methods, the controller proposed in this paper reduces the maximum load swing angle during operation, shortens the time required for the load to reach a stable state, and accurately limits the error tracking of the load obstacle avoidance trajectory to within 0.02 m. It also shows good obstacle avoidance performance for external disturbances in the experiment. Therefore, the controller proposed in this paper can complete the obstacle avoidance function of obstacles and achieve accurate positioning and rapid antisway effect of the load.

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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
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