Khatamianfar Arash, Savkin Andrey V
School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney, NSW 2052, Australia.
Sensors (Basel). 2019 Aug 5;19(15):3429. doi: 10.3390/s19153429.
A new and advanced control system for three-dimensional (3D) overhead cranes is proposed in this study using state feedback control in discrete time to deliver high performance trajectory tracking with minimum load swings in high-speed motions. By adopting the independent joint control strategy, a new and simplified model is developed where the overhead crane actuators are used to design the controller, with all the nonlinear equations of motions being viewed as disturbances affecting each actuator. A feedforward control is then designed to tackle these disturbances via computed torque control technique. A new load swing control is designed along with a new motion planning scheme to robustly minimize load swings as well as allowing fast load transportation without violating system's constraints through updating reference trolley accelerations. The stability and performance analysis of the proposed discrete-time control system are demonstrated and validated analytically and practically.
本研究提出了一种用于三维（3D）桥式起重机的新型先进控制系统，该系统采用离散时间状态反馈控制，以在高速运动中实现高性能轨迹跟踪并使负载摆动最小化。通过采用独立关节控制策略，开发了一种新的简化模型，其中桥式起重机的执行器用于设计控制器，所有运动的非线性方程都被视为影响每个执行器的干扰。然后设计前馈控制，通过计算转矩控制技术来处理这些干扰。设计了一种新的负载摆动控制以及一种新的运动规划方案，通过更新参考小车加速度，在不违反系统约束的情况下，稳健地最小化负载摆动并实现快速负载运输。对所提出的离散时间控制系统的稳定性和性能分析进行了理论分析和实际验证。
