基于模型预测控制的桥式起重机防摇设计

针对桥式起重机工作过程中吊重摇摆的问题,基于预测控制策略提出了一种电子防摇设计方法.首先对桥式起重机进行动力学分析,利用Lagrange方程,建立了面向控制的数学模型.其次,根据对象的历史信息和未来输入预测其将来输出,结合预测误差补偿,通过性能函数的优化得到其控制律.最后,仿真结果表明,所设计的防摇系统能实现小车快速定位和吊重摆角的有效抑制.与最优防摇控制相比,系统超调量和摆角幅度均大大减小,显示了该防摇方法的优越性;加入参数摄动和测量噪声,防摇系统仍能很好地达到控制目标,说明了该防摇方法具有较好的鲁棒性.

Anti-sway design of overhead crane based on model predictive control

Aimed at the sway problem of lifted weight in the working process of overhead crane, an electronic anti-swing design method is proposed based on predictive control strategy. Firstly, dynamic analysis is carried out for the overhead crane, and a control-oriented mathematical model is established by using Lagrange equation, Secondly, according to the historical information of the object and the future input, the future output is predicted and a control rule is obtained by optimizing the performance function combined with prediction error compensation. Finally, it is shown by simulation result that the designed anti-sway system can be used to realize rapid positioning of the trolley and effective restriction of the swing angle of lifted weight. Compared with an optimal anti-sway control, the system overshoot and swing angle amplitude will be greatly reduced, manifesting the superiority of this anti-sway method; When a parameter perturbation or measurement noise is added onto this system, the anti-sway system can still achieve the control purpose very well, showing that this anti-swing method has a better robustness.