太原科技大学学报
太原科技大學學報
태원과기대학학보
JOURNAL OF TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
2014年
2期
132-136
,共5页
无源控制%分数阶%控制李雅普诺夫函数%防摆
無源控製%分數階%控製李雅普諾伕函數%防襬
무원공제%분수계%공제리아보낙부함수%방파
passivity-based control%fractional order%proportional-derivative control%control lyapunov function%anti-swing
利用欧拉-拉格朗日方程建立了桥式起重机系统的动态模型，通过对系统进行无源性分析，构造了控制Lyapunov能量函数，设计了一种无源分数阶控制器，并研究了最佳的分数阶阶次应用区间，该控制器实现了小车的快速定位和负载防摆的效果，相比以往的无源PD控制器，提高了系统的鲁棒性和动态性能。仿真结果验证了所提控制方案的有效性。
利用歐拉-拉格朗日方程建立瞭橋式起重機繫統的動態模型，通過對繫統進行無源性分析，構造瞭控製Lyapunov能量函數，設計瞭一種無源分數階控製器，併研究瞭最佳的分數階階次應用區間，該控製器實現瞭小車的快速定位和負載防襬的效果，相比以往的無源PD控製器，提高瞭繫統的魯棒性和動態性能。倣真結果驗證瞭所提控製方案的有效性。
이용구랍-랍격랑일방정건립료교식기중궤계통적동태모형，통과대계통진행무원성분석，구조료공제Lyapunov능량함수，설계료일충무원분수계공제기，병연구료최가적분수계계차응용구간，해공제기실현료소차적쾌속정위화부재방파적효과，상비이왕적무원PD공제기，제고료계통적로봉성화동태성능。방진결과험증료소제공제방안적유효성。
The dynamic model of overhead crane was derived with Euler-Lagrangian method. The characteristic of passivity of system was analyzed,and a control Lyapunov function was structured. A stabilization derivative control-ler combined with fractional order was designed,and the best application interval of fractional order gama was stud-ied. The simulation results showed that the controller realized accurate positioning of trolley and obvious anti-swing of load,which verified the effectiveness of the proposed control scheme.
