An LMI-Based Simple Robust Control for Load Sway Rejection of Rotary Cranes with Double-Pendulum Effect

Ouyang Huimin; Wang Jian; Zhang Guangming; Mei Lei; Deng Xin

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An LMI-Based Simple Robust Control for Load Sway Rejection of Rotary Cranes with Double-Pendulum Effect

机译：基于LMI的具有双摆频效应的旋转起重机甩负荷简单鲁棒控制

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摘要

In the double-pendulum rotary crane case, the load sway properties become more complicated so that the difficulty of design and analysis of crane control system is increased. Moreover, the change of rope length not only affects the stability of the system, but also leads to the decline of control performance. In order to solve the foregoing problems, a simple model for controller design is obtained by linearizing and decoupling the complex nonlinear model of rotary crane. Then, a linear feedback controller which can furnish robust performance is presented. Finally, numerical simulations verify the effectiveness of the proposed method by comparing with a traditional approach.

机译：在双摆旋转起重机的情况下，载荷摇摆特性变得更加复杂，从而增加了起重机控制系统的设计和分析难度。而且，绳索长度的变化不仅影响系统的稳定性，而且导致控制性能下降。为了解决上述问题，通过将旋转起重机的复杂非线性模型线性化和去耦，获得了简单的控制器设计模型。然后，提出了一种可以提供鲁棒性能的线性反馈控制器。最后，数值模拟与传统方法进行了比较，验证了所提方法的有效性。

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来源
《Mathematical Problems in Engineering》 |2019年第4期|3128356.1-3128356.15|共15页
作者
Ouyang Huimin; Wang Jian; Zhang Guangming; Mei Lei; Deng Xin;
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Nanjing Tech Univ, Coll Elect Engn & Control Sci, 30 Puzhu Rd, Nanjing 211816, Jiangsu, Peoples R China;

Nanjing Tech Univ, Coll Elect Engn & Control Sci, 30 Puzhu Rd, Nanjing 211816, Jiangsu, Peoples R China;

Nanjing Tech Univ, Coll Elect Engn & Control Sci, 30 Puzhu Rd, Nanjing 211816, Jiangsu, Peoples R China;

Nanjing Tech Univ, Coll Elect Engn & Control Sci, 30 Puzhu Rd, Nanjing 211816, Jiangsu, Peoples R China;

Nanjing Tech Univ, Coll Elect Engn & Control Sci, 30 Puzhu Rd, Nanjing 211816, Jiangsu, Peoples R China;

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专利

1. An LMI-Based Simple Robust Control for Load Sway Rejection of Rotary Cranes with Double-Pendulum Effect [J] . Ouyang Huimin, Wang Jian, Zhang Guangming, Mathematical Problems in Engineering . 2019,第PTa4期

机译：一种基于LMI的载荷摇摆旋转式旋转起重机的简单鲁棒控制，双摆效应
2. An LMI-Based Simple Robust Control for Load Sway Rejection of Rotary Cranes with Double-Pendulum Effect [J] . Huimin Ouyang, Jian Wang, Guangming Zhang, Mathematical Problems in Engineering: Theory, Methods and Applications . 2019,第1期

机译：一种基于LMI的载荷摇摆旋转式旋转起重机的简单鲁棒控制，双摆效应
3. Tracking and load sway reduction for double-pendulum rotary cranes using adaptive nonlinear control approach [J] . Ouyang Huimin, Xu Xiang, Zhang Guangming International Journal of Robust and Nonlinear Control . 2020,第5期

机译：使用自适应非线性控制方法跟踪和负载双摆旋转起重机的摇摆减少
4. Residual load sway reduction for double-pendulum overhead cranes using simple motion trajectory [C] . Huimin Ouyang, Guangming Zhang, Lei Mei, IEEE Internationa Conference on Real-time Computing and Robotics . 2017

机译：使用简单的运动轨迹来减少双摆式桥式起重机的残余载荷摇摆
5. Mechanical filters for controlling crane -load oscillations. [D] . Li, Ying-Yong. 2000

机译：机械过滤器，用于控制起重机的负载振荡。
6. Anti-Sway and Positioning Adaptive Control of a Double-Pendulum Effect Crane System With Neural Network Compensation [O] . Hai-yan Qiang, You-gang Sun, Jin-chao Lyu, 2021

机译：具有神经网络补偿的双摆效起重机系统的防摇摆和定位自适应控制
7. Novel Adaptive Hierarchical Sliding Mode Control for Trajectory Tracking and Load Sway Rejection in Double-Pendulum Overhead Cranes [O] . Huimin Ouyang, Jian Wang, Guangming Zhang, 2019

机译：用于双摆型架空起重机的轨迹跟踪和负载摇摆抑制的新型自适应等级滑模控制
8. Input shaping controller enabling cranes to move without sway [R] . Singer, N., Singhose, W., Kriikku, E. 1997

机译：输入整形控制器使起重机能够不受摇摆地移动

An LMI-Based Simple Robust Control for Load Sway Rejection of Rotary Cranes with Double-Pendulum Effect

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