Nonlinear Motion Control of Complicated Dual Rotary Crane Systems Without Velocity Feedback: Design, Analysis, and Hardware Experiments
Nonlinear Motion Control of Complicated Dual Rotary Crane Systems Without Velocity Feedback: Design, Analysis, and Hardware Experiments
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DOI：
10.1109/tase.2019.2961258
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发表时间：
2020-04
影响因子：
5.6
通讯作者：
Ning Sun;Yu Fu;Tong Yang;Jianyi Zhang;Yongchun Fang;X. Xin
中科院分区：
文献类型：
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作者：
Ning Sun;Yu Fu;Tong Yang;Jianyi Zhang;Yongchun Fang;X. Xin
由于单台起重机的工作能力有限，协作式双回转起重机作为欠驱动系统被广泛应用于复杂环境下的大载荷运输任务。然而，目前的防治问题并没有得到足够的重视。与单台起重机相比，drcs包含更多的状态变量、几何约束和耦合关系。因此，复杂的运动学和动力学特性给DRCS的控制器设计和稳定性分析带来了很大的挑战。为了解决这些问题，基于拉格朗日法建立的DRCS动力学模型，设计了考虑致动器约束的输出反馈控制方法，实现了双臂精确定位和快速消除载荷摆动。利用李雅普诺夫技术和拉萨尔不变性原理分析了闭环系统平衡点的稳定性。就我们所知，本文给出了第一个不需要速度反馈、尊重执行器约束、不需要对复杂的非线性动力学方程进行线性化设计和分析的有效控制的解。最后，在自建的实验平台上进行了一系列硬件实验，验证了所提控制器的有效性。给从业人员的说明——这篇文章是由双旋臂起重机系统的控制问题引起的。为了满足工业需求，需要吊装的货物的质量和体积都比以前大，因此更频繁地需要双起重机系统来完成运输任务。对于这类系统，虽然提高了装载能力，但在消除运输过程中的货物摆动时，带来了更大的挑战。据我们所知，目前的控制方法主要是基于线性化/简化模型设计的，当摆角较大时，其性能可能不令人满意。此外，大多数方法使用带有意外噪声的速度信号，而忽略了执行器幅值的约束，这在实际应用中可能不可行。为了解决这些问题，本文提出了一种输出反馈控制器，可以同时解决饱和约束和速度信号不可用的问题。所提出的控制器能保证臂架定位准确，消除货物摆动，理论证明有保证。并在自建实验台上对控制性能进行了实验验证。在未来的努力中，我们打算将所提出的控制方法应用于工业应用。
As a class of underactuated systems, cooperative dual rotary crane systems (DRCSs) are widely used to complete the task of large payload transportation in complex environments, since the working capacity of single cranes is quite limited. However, the control issues of DRCS fail to receive enough attention at present. Compared with single cranes, DRCSs contain more state variables, geometric constraints, and coupling relationships. Therefore, the complex kinematic and dynamic characteristics make controller design/stability analysis very challenging for DRCS. In order to solve these problems, based on the dynamic model of DRCS established by Lagrange’s method, an output feedback control method with consideration for actuator constraints is designed to realize accurate dual boom positioning and rapid elimination of payload swings. The stability of the equilibrium point for the closed-loop system is analyzed by using Lyapunov techniques and LaSalle’s invariance principle. To the best of our knowledge, this article yields the first solution for effective control of DRCS, which needs no velocity feedback, respects the actuator constraints, and is designed and analyzed without linearizing the complicated nonlinear dynamic equations. Finally, a series of hardware experiments on a self-built experimental platform is carried out to illustrate the effectiveness of the proposed controller. Note to Practitioners—This article is motivated by the control problem of dual rotary boom crane systems. In order to meet industrial requirements, the masses and volumes of to-be-hoisted cargoes are larger than before, and consequently, dual-crane systems are more frequently needed to fulfill transportation tasks. For such systems, although they improve the load capacity, greater challenges are caused when eliminating cargo swings in the transportation process. To the best of our knowledge, current control methods are mainly designed based on linearized/reduced models, whose performance may be not satisfactory when swing angles are large. Moreover, most methods use velocity signals with unexpected noises and ignore the constraints of actuators’ amplitudes, which may not be feasible in practical applications. To solve these problems, this article presents an output feedback controller, which can simultaneously solve the problems of saturation constraints and velocity signal unavailability. The proposed controller can guarantee accurate boom positioning and cargo swing elimination with guaranteed theoretical proof. Furthermore, the control performance is verified experimentally on a self-built testbed. In future efforts, we intend to apply the presented control method to industrial applications.