| 基于无源性的分数阶控制在起重机防摆中应用 |
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| 引用本文： | 高武龙,陈志梅,孟文俊.基于无源性的分数阶控制在起重机防摆中应用[J].太原科技大学学报,2014(2):132-136. |
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| 作者姓名： | 高武龙 陈志梅 孟文俊 |
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| 作者单位： | [1] 太原科技大学电子信息工程学院,太原030024 [2] 太原科技大学机械工程学院,太原030024 |
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| 基金项目： | 国家自然基金，山西省自然科学基金，太原科技大学博士启动基金，太原科技大学研究生科技创新项目 |
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| 摘 要： | 利用欧拉-拉格朗日方程建立了桥式起重机系统的动态模型,通过对系统进行无源性分析,构造了控制Lyapunov能量函数,设计了一种无源分数阶控制器,并研究了最佳的分数阶阶次应用区间,该控制器实现了小车的快速定位和负载防摆的效果,相比以往的无源PD控制器,提高了系统的鲁棒性和动态性能。仿真结果验证了所提控制方案的有效性。
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| 关 键 词： | 无源控制 分数阶 控制李雅普诺夫函数 防摆 |
Anti-swing Fractional-order Control Based on Passivity for Overhead Crane |
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| GAO Wu-long,CHEN Zhi-mei,MENG Wen-jun.Anti-swing Fractional-order Control Based on Passivity for Overhead Crane[J].Journal of Taiyuan University of Science and Technology,2014(2):132-136. |
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| Authors: | GAO Wu-long CHEN Zhi-mei MENG Wen-jun |
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| Institution: | GAO Wu-long, CHEN Zhi-mei, MENG Wen-jun |
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| Abstract: | The dynamic model of overhead crane was derived with Euler-Lagrangian method. The characteristic of passivity of system was analyzed,and a control Lyapunov function was structured. A stabilization derivative control-ler combined with fractional order was designed,and the best application interval of fractional order gama was stud-ied. The simulation results showed that the controller realized accurate positioning of trolley and obvious anti-swing of load,which verified the effectiveness of the proposed control scheme. |
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| Keywords: | passivity-based control fractional order proportional-derivative control control lyapunov function anti-swing |
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