基于能量分析的欠驱动非线性吊车控制系统设计

项目名称： 基于能量分析的欠驱动非线性吊车控制系统设计

项目编号： No.60875055

项目类型： 面上项目

立项/批准年度： 2009

项目学科： 金属学与金属工艺

项目作者： 方勇纯

作者单位： 南开大学

项目金额： 30万元

中文摘要： 欠驱动系统是指控制维数少于运动自由度的一类系统，如何实现这类系统的高性能控制是当前自动控制领域的研究热点之一。本项目拟针对具有不确定动态特性的欠驱动非线性桥式吊车系统，采用一种将能量分析与李雅普诺夫函数相结合的设计方法来实现吊车系统的自适应控制，使其在系统参数未知，并且存在空气阻尼等多种不确定性因素的情况下，仍然能够实现台车的精确定位，同时有效地抑制负载的摆动，从而提高吊车系统的工作效率与安全性能。为此，本项目将主要在以下几个方面展开研究：基于非线性优化与模糊规则的台车离线轨迹规划；基于能量分析方法的欠驱动吊车控制系统设计；台车运动过程中的负载抗摆研究；基于立体视觉的台车紧急制动方案设计。本项目的研究成果可以应用于实际的桥式吊车系统，提高它的运送效率和可靠性，创造出良好的经济效益。此外，本项目所研究的基于能量分析的非线性控制设计方法，将有望从理论上解决一类欠驱动系统的控制问题。

中文关键词： 轨迹规划；能量分析；欠驱动系统；李雅普诺夫函数；自适应控制

英文摘要： Underactued systems refer to a class of systems with fewer control inputs than their degrees-of-freedom (DOF). Currently, the development of efficient control for such systems has become a research focus in the field of automatic control. In this project, we aim at exploiting a novel design approach for underactuated overhead cranes, by combing the energy-based analysis and Lyapunov techniques, to achieve precise trolley positioning and sufficient payload swing suppression even in the presence of uncertain system parameters and external disturbances, which can improve the system efficiency and safety. Towards this end, this project focuses on the following aspects consisting of nonlinear optimization and fuzzy rule-based offline trajectory planning, energy-based control development, swing suppression during the transportation phase, and stereo vision-based emergency braking system design, etc. The research results are applicable to practical overhead cranes to improve the transferring efficiency and reliability as well as to bring huge economic benefits. Additionally, the developed energy coupling-based nonlinear control approaches are also very promising for addressing the control problem of a more generalized class of underactuated systems.

英文关键词： Trajectory planning; energy-based analysis; underactuated systems; Lyapunov function; adaptive control.