桥式吊车水平移动自抗扰防摆控制器与参数优化!.pdfVIP

第35卷摇 第3期 吉林 大学学报 ( 息科 学版) Vol.35摇 No.3 2017年5月 Journal ofJilinUniversity (Information ScienceEdition) May2017 文章编号:1671鄄5896(2017)03鄄0268鄄07 桥式吊车水平移动自抗扰防摆控制器与参数优化 陈摇 华 ,蒋冰晶 ,郭小军 , 田彦涛a a a a,b (吉林大学 a. 通信工程学院;b. 工程仿生教育部重点实验室,长春 130022) 摘要:为解决桥式吊车水平移动过程中的定位控制与防摆控制问题,利用拉格朗日方程建立了其非线性数学模 型,设计了自抗扰控制器(ADRC: Auto Disturbances Rejection Controller)并与比例微分(PD: Proportional Differential)控制器。 利用人工鱼群算法对控制器参数进行了整体优化,克服了试凑参数的繁琐性。 通过仿真 实验对控制器进行的测试结果表明,该控制器系统能有效抑制负载摆动,对系统参数变化及摆角扰动有很强的 鲁棒性。 关键词:桥式吊车;防摆; 自抗扰控制器;人工鱼群算法 中图分类号:TP273;TH215 文献标识码:A Auto Disturbances Rejection Controller for Horizontal Moving Process of Overhead Crane and Its Parameter Optimization CHEN Hua ,JIANG Bingjing ,GUO Xiaojun ,TIAN Yantiaoa a a a,b (a. College of Communication Engineering;b. Key Laboratory of Bionic Engineering of Ministry of Education,Jilin University,Changchun 130022,China) Abstract:In order to solve the position control and anti swing control in the horizontal movement of overhead crane,we used Lagrange equationto establish itsnonlinear mathematical model,and designedPD (Proportional Differential) controller and ADRC (Auto Disturbances Rejection Controller). The parameterswere optimized by artificial fish swarm algorithm,overcomingthe complexity of trial and error method. The controllerwastestedby simulation experiment, the simulation results showed that this controller system could effectively decreases winging angle of the load, and had strong robustness to system parameter svariation and swinging angle disturbance. Key words:overhead crane;anti swing;auto disturbances rejection controller;artificial fish swarm algorithm 0摇 引摇 言 桥式吊车是一种现代化的应用广泛的搬运机械,在运行过程中由于负载惯性以及环境因素比较