【作者】 周灌中；

【导师】 宗群；

【作者基本信息】 天津大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 集装箱桥吊的防摇就是指集装箱吊具带着提升载荷的主小车在运行到预定位置时,依靠减摇装置使吊着的提升载荷围绕悬吊点的摇摆幅度在规定的时间内或规定的摇摆周期内减到规定的数值内。集装箱桥吊是一个十分复杂的不确定非线性系统,所以系统防摇控制变得非常困难,因此,给出集装箱桥吊的防摇控制方法具有重要的意义。但是现行的研究方法中把集装箱桥吊作为一个不确定系统的研究很少,并且防摇时间较长,所以针对这些问题做一些有益的探索很有必要。首先通过对集装箱桥吊运动特性的研究,根据拉格朗日方程,以长度和角度为自由度建立方程,得出集装箱桥吊运动的数学模型;再依据集装箱桥吊的数学模型求解出桥吊的T-S模糊模型。在此基础上针对桥吊系统的不确定性,给出了一种基于T-S模型的桥吊防摇H_∞控制方法,把系统可稳和H_∞控制存在的条件转化为解一系列矩阵不等式(LMI: Linear Matrix Inequality)的问题,得出最优反馈H_∞控制律,它使得桥吊闭环系统内部稳定,且不确定性对桥吊系统的输出影响最小。然而这种控制方法还存在施加干扰时不能保住某些性能的缺点,所以提出了基于T-S模型的桥吊防摇保性能控制,通过解一个具有线性矩阵不等式约束的凸优化问题,求得一个性能指标的上界和保证这一性能的PDC (Parallel Distributed Compensation)结构模糊控制器的状态反馈增益矩阵,得到了基于T-S模型的保性能控制器。所设计的控制器不仅使得系统闭环稳定而且使得某个或某些性能指标值不超过规定的上界。仿真结果表明上述两种方法在系统模型发生变化和外界干扰施加时都能在很短时间抑制摆动和干扰,具有很强的鲁棒性。更多还原

【Abstract】 The anti-swing control of the container crane is that the main trolley carries the load by the container spreader arrive at the goal and the anti-swing device makes the swing range of load get the prescribe range in the prescribe time.The container crane is a complex and nonlinear system with uncertainty. So the anti-swing control is very difficult. The research of the anti-swing system is very important. But there are only a few methods researched on the container crane as an uncertain system. And the anti-swing time is much longer. Therefore some useful researches have been done in this dissertation. Firstly, container crane kinematical characteristic and Lagrange Equation are investigated. Then utilizing the freedom of position and theta, establish the system equations. Thus container crane kinematical model is educed. From this model, the container crane T-S model is got. To deal with uncertainty of container crane system, a H_∞controller based on the T-S model is obtained. Transforms the system stabilizability and the existence condition of the H_∞controller to solving a problem of LMI (Linear Matrix Inequality). Then gets the optimal feedback matrix, this method makes the system inner stable and the effect by the uncertain factor minimum. But it has a disadvantage that it can’t reserve some performance when system disturbances exit. So the cost guaranteed controller is designed. By solving the convex optimization problem with a set of LMI constrains, the performance upper boundary and the state feedback matrix of PDC (Parallel Distributed Compensation) fuzzy logic controller are obtained. the container crane system can be robust stabilized and the closed loop performance is guaranteed.The simulation results indicate that these two approaches can restrain the swing and disturbance in short time. Thus, with the uncertainty and disturbance of system, it is approved that the anti-swing controller of the container crane is effective and robust.更多还原