桥式吊车装卸定位防摇控制研究

摘要

桥式吊车是一类非线性的欠驱动系统,由于桥吊小车在作业过程中存在参数摄动和摩擦力、风扰等不确定因素的干扰严重影响了桥吊防摇定位的控制效果,为避免这些不确定因素的干扰,提高桥吊的工作效率,提出了一种基于线性矩阵不等式(LMI)方法的状态反馈H∞鲁棒PID控制策略.基于LMI方法得出系统的状态反馈H∞鲁棒控制器,解决系统在运行过程中遇到的不确定干扰问题,保持系统的鲁棒性.鲁棒控制器与PID控制器相结合构成的闭环控制系统,使系统的控制性能增强.仿真结果表明,H∞鲁棒控制与PID控制相结合的控制策略有效,而且PID控制与鲁棒控制具有良好的相容性.%Overhead crane is a kind of nonlinear and under actuated system.We propose a state feedback H∞ robust PID control strategy based on LMI in order to avoid the disturbance of uncertain factors and improve the working efficiency of crane.Because of the uncertain factors such as the parameter perturbation,the friction and the wind disturbance,the disturbance of the uncertain factors in the process of the bridge crane has a serious influence on the control effect of the anti swing position of the bridge crane.We obtain the state feedback H∞ robust controller of the system via LMI approach,which is to be used to solve the problem of uncertain interference in the operation of the system and maintain the robustness of the system.The robust controller and PID controller are combined to form a closed loop control system,which can enhance the performance of the system.Simulation results show the effectiveness of the proposed method and the good compatibility of the robust controller with PID controller.