基于LQR算法的三维桥式吊车定位及防摆控制研究

Research On The Positioning And Anti-swing Control Of Three-dimension Bridge Crane Based On LQR Algorithm

摘要:

首先采用牛顿力学方法建立了三维桥式吊车的非线性动力学模型,然后将其在平衡点处进行线性化,得到系统在X方向和Y方向完全解耦的状态空间方程。根据现代控制理论设计了系统的线性二次最优调节器(LQR)并进行SIMULINK仿真,最后利用C++语言和MATLAB将控制算法程序化,实时控制在多媒体定时器中断服务函数内实现,自主搭建了一套三维桥式吊车实验平台。系统成功实现运动范围内的定位及防摆控制,仿真及实验结果表面建立三维桥式吊车解耦模型的合理性与控制算法的有效性。

Abstract:

First, The nonlinear dynamic model of three - dimensional bridge crane is established by Newtonian mechanics, then linearization at the equilibrium point, get the system in the X direction and Y direction completely decoupled state space equation. According to the theory of modern control design of the system of linear quadratic optimal regulator (LQR) and SIMULINK simulation, the control algorithm is programmed by C++ language and MATLAB, the real-time control implementation within the multimedia timer interrupt service function, independently set up a set of 3d bridge crane experiment platform. The system successfully realizes the positioning and anti-swing control in the motion range, and the simulation and experimental results show the rationality of the decoupling model of the three-dimension bridge crane and the validity of the control algorithm.