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提出了一种单斗-链式旋臂物料提升机方案,研究了一种考虑物料惯性参数存在不确定情况下的提升机的非线性鲁棒位置控制方法.阐述了物料提升机的工作原理,采用第二类拉格朗日方程建立了物料提升机的动力学模型.假设控制力大小有界,基于一个给定的隐式李雅普诺夫函数设计了物料提升机的连续反馈位置控制器.控制器的增益是系统状态变量的可微函数,随着状态变量逐渐趋向于零,该增益逐渐趋向于无穷大,但是控制力始终满足给定的约束.基于牛顿迭代法与龙格-库塔法数值求解了系统的动力学方程.计算结果表明:所设计的控制器抑制了惯性参数摄动的影响,实现了物料提升机点到点的精确位置控制,具有较好地鲁棒性.
A scheme of hoisting machine with single bucket and chain arm is proposed and a nonlinear robust position control method of hoist considering the existence of material inertia parameters is studied.The working principle of material hoist is expounded, The second kind of Lagrange equation is used to establish the dynamic model of the material hoist.On the assumption that the control force is bounded in size, a continuous feedback position controller of material hoist is designed based on a given implicit Lyapunov function. The gain of the device is a differentiable function of the system state variable, and as the state variable tends to zero, the gain tends to infinity but the control force always satisfies the given constraint.Based on the Newton iterative method and the Runge-Kutta method The dynamic equations of the system are solved.The calculation results show that the designed controller suppresses the influence of the inertia parameter perturbation and realizes the exact position control of material hoist from point to point and has good robustness.