CAJ | 학술논문

悬绳和荷载组成的振动系统的固有频率变化会对控制系统的稳定性和控制性能产生影响，因此针对此问题提出一种低复杂度的鲁棒控制器设计方法。首先，采用干扰观测器导出起重机的线性模型。该模型对于关节摩擦，荷载质量以及旋转速度等参数变化具有鲁棒性。其次，基于该线性模型设计一个含有积分器的状态反馈控制器，其增益通过线性矩阵不等式（LMI）优化算法求出，并且该控制器对于绳长变化具有鲁棒性。最后，比较仿真和实验结果验证所提方法的有效性。通过使用此法可以实现在无测量绳长的传感器系统的情况下容易地操作起重机，从而大大地简化其结构和降低其安装成本。
현승화하재조성적진동계통적고유빈솔변화회대공제계통적은정성화공제성능산생영향，인차침대차문제제출일충저복잡도적로봉공제기설계방법。수선，채용간우관측기도출기중궤적선성모형。해모형대우관절마찰，하재질량이급선전속도등삼수변화구유로봉성。기차，기우해선성모형설계일개함유적분기적상태반궤공제기，기증익통과선성구진불등식（LMI）우화산법구출，병차해공제기대우승장변화구유로봉성。최후，비교방진화실험결과험증소제방법적유효성。통과사용차법가이실현재무측량승장적전감기계통적정황하용역지조작기중궤，종이대대지간화기결구화강저기안장성본。
Considering that the natural frequency of a rope-load oscillation system may affect the stability and performance of a control system,a simple robust controller was proposed to resolve the problem.The linear dynamic model of a rotary crane was created by using a disturbance observer.The model is robust with respect to varying parameters such as joint friction,load mass and velocity of horizontal boom motion.A state feedback controller with integrator was designed based on the model,and controller gains were determined by using linear matrix inequality (LMI ) optimization for achieving robustness with respect to rope length variance. The comparative simulations and experimental results demonstrate the effectiveness of the proposed method.Therefore,the crane can be easily operated without sensor system for measuring rope length,consequently,the structure of the crane can be simplified and implementation cost can be reduced.