| 桥式吊车水平移动自抗扰防摆控制器与参数优化 |
| |
| 引用本文： | 陈华,蒋冰晶,郭小军,田彦涛.桥式吊车水平移动自抗扰防摆控制器与参数优化[J].吉林大学学报(信息科学版),2017,35(3):268-274. |
| |
| 作者姓名： | 陈华 蒋冰晶 郭小军 田彦涛 |
| |
| 作者单位： | 吉林大学 a. 通信工程学院; b. 工程仿生教育部重点实验室, 长春 130022 |
| |
| 基金项目： | 吉林省科技厅重点科技攻关基金资助项目 |
| |
| 摘 要： | 为解决桥式吊车水平移动过程中的定位控制与防摆控制问题, 利用拉格朗日方程建立了其非线性数学模
型, 设计了自抗扰控制器(ADRC: Auto Disturbances Rejection Controller) 并与比例微分( PD: Proportional
Differential)控制器。 利用人工鱼群算法对控制器参数进行了整体优化, 克服了试凑参数的繁琐性。 通过仿真
实验对控制器进行的测试结果表明, 该控制器系统能有效抑制负载摆动, 对系统参数变化及摆角扰动有很强的
鲁棒性。
|
| 关 键 词： | 人工鱼群算法 防摆 自抗扰控制器 桥式吊车 |
| 收稿时间： | 2016-03-24 |
Auto Disturbances Rejection Controller for Horizontal Moving Process ofOverhead Crane and Its Parameter Optimization |
| |
| CHEN Hua,JIANG Bingjing,GUO Xiaojun,TIAN Yantiao.Auto Disturbances Rejection Controller for Horizontal Moving Process ofOverhead Crane and Its Parameter Optimization[J].Journal of Jilin University:Information Sci Ed,2017,35(3):268-274. |
| |
| Authors: | CHEN Hua JIANG Bingjing GUO Xiaojun TIAN Yantiao |
| |
| Institution: | a. College of Communication Engineering; b. Key Laboratory of Bionic Engineering of
Ministry of Education, Jilin University, Changchun 130022, China |
| |
| Abstract: | In order to solve the position control and anti swing control in the horizontal movement of overhead crane, we used Lagrange equation to establi sh its nonlinear mathematical model, and designed PD (Proportional Differential) controller and ADRC (Auto Disturb ances Rejection Controller).The par ameters were optimized by artificial fish swarm algorithm, overcoming the c omplexity of trial and error method.The controller was tested by simulation expe riment, the simulation results showed that this controller system could effectively decreases winging angle of the load, and had strong robustness to system parameter svariation and swinging angle disturbance. |
| |
| Keywords: | overhead crane anti swing auto disturbances rejecti on controller artificial fish swarm algorithm |
| 本文献已被 万方数据 等数据库收录！ |
| 点击此处可从《吉林大学学报(信息科学版)》浏览原始摘要信息 |
| 点击此处可从《吉林大学学报(信息科学版)》下载免费的PDF全文 |
