考虑电驱动动力学的桥式起重机小车减振及鲁棒控制方法

A. Antipov, S. Krasnova
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引用次数: 0

摘要

控制装置是一个单梁桥式起重机的小车,设计用于沿着跨度移动悬挂的有效载荷。该对象的特点是:一个控制具有两个自由度,质量惯性特性的不确定性,以及非光滑不受控制扰动的作用。在数学模型中,我们考虑了直流电动机的简化动力学,其中电枢电路的电源电压是一个控制。在这里,影响机械子系统的参数和外部干扰变得不匹配(即,它们通过不同的控制通道起作用),并且不能直接补偿。本文主要考虑两个问题,每一个问题都使用s形光滑的饱和s型函数。第一个问题是考虑小车的速度和加速度的设计约束来设计小车的轨迹。跟踪这样的轨迹应确保有效载荷在给定时间内的平稳转移和其振荡的阻尼。为此,以s型函数和摆动角积分的形式建立了参考轨迹。所提出的解决方案在效率上不逊于现有的类似物,而其实现所需的计算成本更低。第二个问题是开发一个强大的跟踪系统。为此,提出了不连续真控制和s型虚拟控制(局部反馈)的块合成方法。后者是不连续控制的光滑类似物,并且可以在不识别它们的情况下以给定的精度抑制不匹配的干扰。与标准的线性局部反馈相比,s型虚拟控制的有界性不会导致状态变量的大超调,这在存在设计约束时是至关重要的。此外,这种虚构的控制是在机械工厂中实施的,不会导致执行器的磨损,而当使用不连续的虚构控制时,这不可避免地会发生。我们给出了数值模拟的结果,并对具有各种虚拟控制的闭环系统进行了比较分析:线性、不连续和s型。数值模拟结果验证了所提方法的有效性。
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Methods for Damping Payload Oscillations and Robust Control of an Overhead Crane Trolley Considering the Dynamics of the Electric Drive
The control plant is a trolley of a single-girder overhead crane designed to move a suspended payload along the span. Features of the plant: one control with two degrees of freedom, the uncertainty of mass-inertial characteristics, and the action of non-smooth uncontrolled disturbances. We consider the reduced dynamics of the DC motor in the mathematical model, where the power supply voltage of the armature circuit is a control. Here, parametric and external disturbances affecting the mechanical subsystem become unmatched (i.e., they act through different channels with control) and cannot be directly compensated. This paper considers two main problems, each of which uses S-shaped smooth sigmoid functions with saturation. The first problem is to design the trajectory of the trolley considering the design constraints on its velocity and acceleration. Tracking such a trajectory should ensure the smooth transfer of the payload in a given time and the damping of its oscillations. For this purpose, a reference trajectory has been developed in the form of the sum of a sigmoid function and an integral of the swing angle. The proposed solution is not inferior in the efficiency to existing analogs, while its implementation requires less computational costs. The second problem is to develop a robust tracking system. For this purpose, a procedure for block synthesis of discontinuous true control and sigmoid fictitious controls (local feedbacks) has been developed. The latter are smooth analogs of discontinuous control and make it possible to suppress unmatched disturbances with a given accuracy without identifying them. In contrast to standard linear local feedbacks, the boundness of sigmoid fictitious controls does not lead to a large overshoot of state variables, which is critical in the presence of design constraints. In addition, such fictitious controls are implemented in mechanical plants and do not contribute to the wear of the actuator, which inevitably occurs when discontinuous fictitious controls are used. We presented the results of numerical simulation and carried out a comparative analysis of closed-loop systems with various fictitious controls: linear, discontinuous, and sigmoid. The results of the numerical simulation demonstrated the effectiveness of the developed approach.
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来源期刊
Mekhatronika, Avtomatizatsiya, Upravlenie
Mekhatronika, Avtomatizatsiya, Upravlenie Engineering-Electrical and Electronic Engineering
CiteScore
0.90
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发文量
68
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