起重机吊重系统鲁棒滑模观测器设计

发布时间：2018-01-06 21:08

本文关键词：起重机吊重系统鲁棒滑模观测器设计　出处：《西安理工大学学报》2014年04期 　论文类型：期刊论文

【摘要】：为了实现起重机吊重系统状态变量的观测,设计起重机吊重系统鲁棒滑模状态观测器,利用便于测量的小车位置信息或小车位置与速度信息,通过合理选取滑模参数矩阵和观测器增益参数矩阵,使观测器动力学矩阵是Hurwitz矩阵,不仅可以使观测器渐近地估计出全部系统状态变量,而且观测器对系统的外界有界干扰具有较强的鲁棒性。仿真结果表明:当选择小车位置信息作为观测器的输入时,各状态变量的观测偏差在约1.5s时渐近地趋于零;当选择小车位置和速度信息作为观测器的输入时,各状态变量的观测偏差在约3.5s时渐近地趋于零;观测器不仅对系统模型中的非线性不确定项具有鲁棒性,而且对不同形式的小车驱动力具有良好的适应性。
[Abstract]:In order to observe the state variables of crane crane lifting system, a robust sliding mode state observer is designed, which can be used to measure the vehicle position information or vehicle position and speed information. By reasonably selecting the sliding mode parameter matrix and the observer gain parameter matrix, the observer dynamics matrix is Hurwitz matrix, not only can the observer estimate all the system state variables asymptotically. Moreover, the observer is robust to the bounded disturbance of the system. The simulation results show that when the vehicle position information is selected as the input of the observer. The observed deviation of each state variable approaches to zero asymptotically at about 1.5 s. When the vehicle position and speed information are selected as the input of the observer, the observation deviation of each state variable approaches to zero asymptotically at about 3.5 seconds. The observer is not only robust to the nonlinear uncertainties in the system model, but also has good adaptability to different vehicle driving forces.
【作者单位】：中国人民武装警察部队工程大学装备工程学院特种装备研究所;
【基金】：国家自然科学基金资助项目(51005246)
【分类号】：TH21
【正文快照】： 桥式起重机或门式起重机(以下简称起重机)的吊重与小车之间采用钢丝绳柔性联接,在小车运行中控制吊重摇摆一直是控制学科学者研究的热点和难点[1-4]。对吊重摆角控制系统的设计往往需要小车位置与速度、吊重摆角与摆角角速度等状态变量信息[5-9],但由于吊重与小车之间柔性联接

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