Tian Zheng, Yu Lili, Ouyang Huimin, 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. 2021 Jun;112:122-136. doi: 10.1016/j.isatra.2020.11.028. Epub 2020 Nov 30.
Achieving both jib and trolley positioning and swing reduction become more difficult when tower cranes appear double-pendulum characteristic in dynamic. Moreover, in actual applications, the initial output value of actuators is usually physically constrained and the model uncertainties and external disturbances always exist. To solve these problems, a partial enhanced-coupling nonlinear controller with initial saturation is designed and analyzed by Lyapunov technique and LaSalle's invariance theorem. The control performance and strong robustness are severally verified by lots of simulations.
当塔式起重机在动态中呈现双摆特性时，实现臂架和小车定位以及摆动减小变得更加困难。此外，在实际应用中，执行器的初始输出值通常受到物理约束，并且模型不确定性和外部干扰总是存在。为了解决这些问题，通过李雅普诺夫技术和拉萨尔不变性定理设计并分析了一种具有初始饱和的部分增强耦合非线性控制器。通过大量仿真分别验证了控制性能和强鲁棒性。
