Slew/Translation Positioning and Swing Suppression for 4-DOF Tower Cranes With Parametric Uncertainties: Design and Hardware Experimentation
Slew/Translation Positioning and Swing Suppression for 4-DOF Tower Cranes With Parametric Uncertainties: Design and Hardware Experimentation
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DOI：
10.1109/tie.2016.2587249
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发表时间：
2016-07
影响因子：
7.7
通讯作者：
Ning Sun;Yongchun Fang;He Chen;Biao Lu;Yiming Fu
中科院分区：
文献类型：
--
作者：
Ning Sun;Yongchun Fang;He Chen;Biao Lu;Yiming Fu
塔式起重机是一种强非线性欠驱动系统，具有复杂的动力学特性。现有的塔式起重机控制方法是在简化的（即，线性化/近似）起重机动力学，并且它们中的大多数需要精确的模型知识。然而，实际的塔式起重机通常遭受不确定性（例如，未知的绳索长度和有效载荷质量）;此外，当状态变量由于意外干扰而不足够接近平衡点时，简化的模型可能不再反映实际动态，这通常严重降低控制性能。为了解决这些问题，本文提出了一种自适应控制方案的欠驱动塔式起重机，以实现同步回转/平移定位和摆动抑制，这可以减少意外的超调臂架/小车运动。闭环系统的稳定性得到了严格的数学分析。据我们所知，所提出的控制器是第一种方法塔式起重机参数不确定性，这是没有线性化/近似其非线性动态。最后，介绍了自行搭建的多功能硬件起重机实验台，并对所提出的方法进行了实验研究。实验结果表明，该控制方法是有效的，具有良好的鲁棒性。
As a powerful large-scale construction tool, a tower crane is a strongly nonlinear underactuated system presenting complicated dynamical characteristics. Existing control methods for tower cranes are developed on the basis of simplified (i.e., linearized/approximated) crane dynamics, and most of them require exact model knowledge. However, practical tower cranes usually suffer from uncertainties (e.g., unknown rope length and payload mass); moreover, when the state variables are not close enough to the equilibrium point due to unexpected disturbances, simplified models might not reflect the actual dynamics any longer, which usually badly degrades the control performance. To tackle these problems, this paper proposes an adaptive control scheme for underactuated tower cranes to achieve simultaneous slew/translation positioning and swing suppression, which can reduce unexpected overshoots for the jib/trolley movements. The closed-loop stability is backed up with the rigorous mathematical analysis. To the best of our knowledge, the proposed controller is the first method for tower cranes with parametric uncertainties, which is developed without linearizing/approximating their nonlinear dynamics. Finally, we introduce our self-built multifunctional hardware crane experiment testbed and present experimental studies for the proposed method. Experimental results show that the new control approach is effective and admits satisfactory robustness.