桥式吊车水平移动自抗扰防摆控制器与参数优化

吉林大学学报(信息科学版)

桥式吊车水平移动自抗扰防摆控制器与参数优化

陈华 a , 蒋冰晶 a , 郭小军 a , 田彦涛 a,b

吉林大学 a. 通信工程学院; b. 工程仿生教育部重点实验室, 长春 130022

收稿日期:2016-03-24 出版日期:2017-05-25 发布日期:2017-06-07
通讯作者: 田彦涛(1958— ), 男, 吉林四平人, 吉林大学教授, 博士生导师, 主要从事复杂系统建模、优化与控制研究, (Tel)86-13844889256(E-mail)tianyt@ jlu. edu. cn。
作者简介: 陈华(1991— ), 男, 河北张家口人, 吉林大学硕士研究生, 主要从事车辆辅助驾驶与智能驾驶研究, (Tel)86- 18744015523(E-mail)504918741@ qq. com。
基金资助:
吉林省科技厅重点科技攻关基金资助项目(20150204074GX)

Auto Disturbances Rejection Controller for Horizontal Moving Process of Overhead Crane and Its Parameter Optimization

CHEN Hua a , JIANG Bingjing a , GUO Xiaojun a , TIAN Yantiao a,b

a. College of Communication Engineering; b. Key Laboratory of Bionic Engineering of
Ministry of Education, Jilin University, Changchun 130022, China

Received:2016-03-24 Online:2017-05-25 Published:2017-06-07

摘要/Abstract

摘要： 为解决桥式吊车水平移动过程中的定位控制与防摆控制问题, 利用拉格朗日方程建立了其非线性数学模
型, 设计了自抗扰控制器(ADRC: Auto Disturbances Rejection Controller) 并与比例微分( PD: Proportional
Differential)控制器。利用人工鱼群算法对控制器参数进行了整体优化, 克服了试凑参数的繁琐性。通过仿真
实验对控制器进行的测试结果表明, 该控制器系统能有效抑制负载摆动, 对系统参数变化及摆角扰动有很强的
鲁棒性。

关键词: 人工鱼群算法, 防摆, 自抗扰控制器, 桥式吊车

Abstract: In order to solve the position control and anti swing control in the horizontal movement of overhead
crane, we used Lagrange equation to establish its nonlinear mathematical model, and designed PD (Proportional
Differential) controller and ADRC (Auto Disturbances Rejection Controller). The parameters were optimized by
artificial fish swarm algorithm, overcoming the complexity of trial and error method. The controller was tested by
simulation experiment, the simulation results showed that this controller system could effectively decreases
winging angle of the load, and had strong robustness to system parameter svariation and swinging angle
disturbance.

Key words: overhead crane, artificial fish swarm algorithm, anti swing, auto disturbances rejection controller

中图分类号:

TP273

陈华,蒋冰晶,郭小军,田彦涛 . 桥式吊车水平移动自抗扰防摆控制器与参数优化[J]. 吉林大学学报(信息科学版), 2017, 35(3): 268-274.

CHEN Hua,JIANG Bingjing,GUO Xiaojun,TIAN Yantiao . Auto Disturbances Rejection Controller for Horizontal Moving Process of Overhead Crane and Its Parameter Optimization[J]. Journal of Jilin University(Information Science Ed, 2017, 35(3): 268-274.