基于离散时间平面度的龙门起重机控制
Discrete-time Flatness-based Control of a Gantry Crane
摘要：
本文以龙门起重机为研究对象，设计了一种基于离散时间平坦度的跟踪控制器，并通过实测结果验证了该方法的实用性。所需的采样数据模型是由欧拉离散与事先状态变换的方式，连续时间系统的平坦性被保存。与连续时间情形类似，基于平坦度的控制器设计分两步进行。首先，采样数据系统精确线性化的离散时间准静态状态反馈。随后，进一步的反馈强制执行稳定的线性跟踪误差动态。为了强调其实际意义，新的离散时间跟踪控制的性能相比，经典的连续时间的方法从实验室设置的测量结果。特别是，事实证明，离散时间控制器是显着更强大的大采样时间。此外，它示出了如何离散时间的方法有利于最佳参考轨迹的设计，并提出了进一步的测量结果。
英文摘要：
This article addresses the design of a discrete-time flatness-based tracking control for a gantry crane and demonstrates the practical applicability of the approach by measurement results. The required sampled-data model is derived by an Euler-discretization with a prior state transformation in such a way that the flatness of the continuous-time system is preserved. Like in the continuous-time case, the flatness-based controller design is performed in two steps. First, the sampled-data system is exactly linearized by a discrete-time quasi-static state feedback. Subsequently, a further feedback enforces a stable linear tracking error dynamics. To underline its practical relevance, the performance of the novel discrete-time tracking control is compared to the classical continuous-time approach by measurement results from a laboratory setup. In particular, it turns out that the discrete-time controller is significantly more robust with respect to large sampling times. Moreover, it is shown how the discrete-time approach facilitates the design of optimal reference trajectories, and further measurement results are presented.
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