桥式吊车系统的伪谱最优控制设计.pdfVIP

30 8 Vol. 30 No. 8 2013 8 Control Theory Applications Aug. 2013 DOI: 10.7641/CTA.2013.21327 , ( , 210018) : , , . , , . , Chebyshev, . , . , . , . Chebyshev. , . : Chebyshev; ; : TP273.5 : A Optimal control design for an overhead crane system using pseudospectral method LIU Rong-jie, LI Shi-hua (College of Automation, Southeast University, Nanjing Jiangsu 210018, China) Abstract: In the optimal control for an overhead crane system, the performance index is not necessarily in a quadratic form. It depends on actual requirements of the application. In some cases, states and control are usually constrained due to boundary conditions and track conditions. To deal with this problem, we employ the Chebyshev pseudospectral algorithm to solve the nonlinear optimal control problem with states and/or control in constrain and the cost function in nonstandard quadratic form. Firstly, the model of the overhead crane system is transformed to an error model in upper triangular form. Next, the optimal control problem of the overhead crane system is transformed into a sequence of parametric optimization problems with algebraic constrains, i.e., a nonlinear programming problem. By solving the discretized optimization prob- lems, we obtain the optimal control law for the overhead crane system. The feasibility and the uniformity of the Chebyshev pseudospectral optimal solution are also analyzed. Simulations are performed to show the effectiveness in applying the pseudospectral optimal design method to an overhead crane system. Key words: Chebyshev pseudospectral method; optimal design; overhead crane