摘要
针对吊车系统在三维运动过程中其钢丝绳的长度变化不定,其系统又是一个激励不足的欠驱动机械系统,提出对其模型的部分解耦与模糊控制相结合的控制策略,以实现系统的准确定位与防摆控制.通过实验仿真表明,此控制策略能使系统的最大摆角控制在4°～7°之间,系统的准确定位时间也控制在很短的时间内;此控制策略不但简化了其复杂的数学运算,而且提高了系统的控制精度,缩短了系统的调节时间,使其具有良好的动态性能.
Crane system＇s rope length is variable in 3D movements. It is a mechanical system of under-actuated nonlinear and coupling. To realize precise positioning and reducing sway, a controller consisted of partial nonlinear de- coupled and fuzzy control is proposed. Simulation results show that this controller can make the maximum swing angle between 4°-7°, it can also make the positioning time in a very short period; The presented controller not only simplify former complex mathematical calculations, but also improve the control accuracy of the system and shorten the adjust- ment time of the system. This method has good dynamic performance and robust.
出处
《中原工学院学报》
CAS
2013年第3期25-29,共5页
Journal of Zhongyuan University of Technology
关键词
吊车系统
变绳长
模糊控制
部分解耦
crane system
varying rope length
fuzzy control
partial decoupling
