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首页> 外文期刊>Transactions of the Institute of Measurement and Control >LMI-based design of an I-PD+PD type LPV state feedback controller for a gantry crane
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LMI-based design of an I-PD+PD type LPV state feedback controller for a gantry crane

机译：基于LMI的I-PD + PD型LPV状态反馈控制器的设计，用于龙门式起重机

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摘要

In this paper, an alternative gain-scheduled PID tuning procedure is proposed for gantry crane control systems. In order to avoid excessive overshoot and aggressive control action due to the proportional kick and/or derivative kick effects, an I-PD+PD type control law is considered. The scheduling parameter is considered the cable length due to the payload lifting and lowering movements. A linear parameter-varying (LPV) gantry crane model is constructed to enable gain-scheduled controller design with a linear matrix inequalities (LMIs) framework. Based on the LPV model, a convex optimization problem is formulized to minimize L_(2)gain under regional pole location constraints. Then, a fixed gain L_(2)gain state feedback I-PD+PD type controller and a conventional pole placement state feedback I-PD+PD controller are designed to investigate the efficiency of the proposed controller. A pole placement controller is tuned to minimize the very common ITAE (integral of time multiplied by absolute error) performance index. Simulation results show that the proposed controller has superior tracking performance under time-varying cable length, when compared with nominal fixed gain controllers.
机译：在本文中，提出了一种替代的增益预定的PID调谐过程，用于龙门起重机控制系统。为了避免由于比例踢血和/或衍生术踢效应导致过冲过冲和侵略性的控制作用，考虑了I-PD + PD型控制法。由于有效载荷提升和降低运动，调度参数被认为是电缆长度。构造线性参数变化（LPV）龙门起重机模型以使增益预定的控制器设计具有线性矩阵不等式（LMI）框架。基于LPV模型，制定凸优化问题以最小化区域极点位置约束下的L_（2）增益。然后，设计了固定增益L_（2）增益状态反馈I-PD + PD型控制器和传统的极点放置状态反馈I-PD + PD控制器被设计为研究所提出的控制器的效率。调整杆子放置控制器以最小化非常常见的ITAE（乘以绝对误差的时间乘以）性能索引。仿真结果表明，与标称固定增益控制器相比，所提出的控制器在时变电缆长度下具有卓越的跟踪性能。

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