受两级摆动影响的吊车系统控制方法研究

项目名称： 受两级摆动影响的吊车系统控制方法研究

项目编号： No.61503200

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 孙宁

作者单位： 南开大学

项目金额： 22万元

中文摘要： 吊车是常见的大型运输工具，其防摆、定位控制具有重要的研究意义。现有绝大多数研究将吊钩与负载视为同一质点，把负载摆动视为单摆处理。事实上，在大多数情况下，吊钩重量不可忽略，负载往往具有较大体积，两者无法视为同一质点。实际吊车一般表现出更复杂的两级摆动特性，欠驱动度更高，非线性、耦合性更强，导致针对单级摆动吊车设计的控制方法无法适用。因此，针对更符合实际情况的两级摆动吊车系统开展研究，具有理论与实际的双重意义。针对两级摆动吊车系统，本项目将充分考虑工作空间存在动静态障碍物、未建模动态、不确定参数、绳长时变(负载升降)、不匹配扰动等实际难题，提出行之有效的控制方案，提高系统工作效率与安全性，增强鲁棒性。本项目研究内容包括：在线避障消摆运动规划、连续鲁棒消摆定位控制、伴有负载升降的自适应控制、受不匹配扰动影响的抗干扰控制；在完成理论设计与分析后，将在两级摆动吊车硬件平台上进行实验研究。

中文关键词： 机器人控制；吊车；欠驱动系统；两级摆动；消摆定位

英文摘要： Cranes are widely-used large-scale transportation tools, and the studies on their anti-sway and trolley positioning control are of important significance. At present, most existing methods treat the hook and the payload as one mass point, and regard the payload sway as that of a single pendulum. In fact, in most situations, the payload weight is not negligible and the size of the payload is large; thus, they cannot be seen as one mass point from a practical point of view. In practice, crane systems usually exhibit more complicated double pendulum sway dynamics, giving rise to increased underactuation and stronger nonlinearity, and this fact makes the control methods, which are designed based on single pendulum cranes, fail to work normally. Hence, it is both theoretically and practically important to study double pendulum cranes which are more practical. By fully considering some practical issues, such as moving and stationary obstacles in the workspace, unmodeled dynamics, uncertain parameters, varying rope length (corresponding to payload hoisting/lowering), unmatched perturbations, and so forth, this project will present effective control strategies to improve the system efficiency and safety as well as to enhance the robustness. More precisely, we will study the following points within this project: online obstacle avoidance anti-sway motion planning, continuous robust anti-sway and positioning control, adaptive control with payload hoisting/lowering, and disturbance rejection control in the presence of unmatched perturbations. After theoretical development and analysis, we will perform abundant experiments on a double pendulum hardware crane testbed to verify the performance of the proposed control methods.

英文关键词： Robot Control;Cranes;Underactuated Systems;Double Pendulum Sway;Sway Elimination and Trolley Positioning