Ouyang Huimin, Tian Zheng, Yu Lili, Zhang Guangming
College of Electrical Engineering and Control Science, Nanjing Tech University, No.30, Puzhu Road(s), Nanjing, 211816, China.
College of Electrical Engineering and Control Science, Nanjing Tech University, No.30, Puzhu Road(s), Nanjing, 211816, China.
ISA Trans. 2020 Jun;101:246-255. doi: 10.1016/j.isatra.2020.02.013. Epub 2020 Feb 18.
For the controller design of tower cranes, the swing of load is always regarded the crane as a single-pendulum model, however in practical applications, such as when the hook mass can not be ignored, the tower crane dynamic system presents a double-pendulum nature. In this case, the dynamic characteristics analysis and controller design for such cranes becomes more complicated. In addition, many researches do not take into account the real situation of the actuator, that is, in actual tower cranes, the output torque/force can not be infinite due to the actual design constraints of the actuator. When the output torque reaches the limit value in some cases, the control performance is greatly reduced. According to the above, after simplifying the tower crane dynamic model, this paper presents a nonlinear controller based on energy-shaping to solve the above problems. The stability of the closed-loop system is proved by the Lyapunov technique and LaSalle's invariance theorem. Under a large number of simulation results, the proposed controller has good control performance and robustness.
对于塔式起重机的控制器设计，负载摆动通常将起重机视为单摆模型，然而在实际应用中，例如当吊钩质量不可忽略时，塔式起重机动态系统呈现出双摆特性。在这种情况下，此类起重机的动态特性分析和控制器设计变得更加复杂。此外，许多研究没有考虑执行器的实际情况，即在实际塔式起重机中，由于执行器的实际设计限制，输出扭矩/力不可能是无限的。在某些情况下，当输出扭矩达到极限值时，控制性能会大大降低。基于上述情况，在简化塔式起重机动态模型后，本文提出了一种基于能量整形的非线性控制器来解决上述问题。通过李雅普诺夫技术和拉萨尔不变性定理证明了闭环系统的稳定性。在大量仿真结果下，所提出的控制器具有良好的控制性能和鲁棒性。
