载重提升门式起重机的时间最优操作
Time-Optimal Operation of a Load-Hoisting Gantry Crane
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中文总结 AI 辅助
本文针对二维门式起重机点对点运动，提出基于贝塞尔函数参数化的时间最优控制闭式解，并利用灵敏度增广模型设计鲁棒控制器，实验验证了其有效性。
中文摘要 AI 辅助
本文研究了在二维平面内移动的门式起重机点对点控制中时间最优控制剖面的设计问题。假设提升电机以恒定速率完成提升操作，并在小车到达其终端位置的同一时间内完成其过渡。这导致了一个线性时变模型，并且时间最优控制问题的闭式解被证明可用贝塞尔函数参数化。通过检查切换函数，对时间最优控制剖面的结构进行了全面分析，该函数阐明了在bang-off-bang控制剖面中开关的引入和抽取机制。给出了最优控制剖面中开关数量的变化，并注意到一种非直观的控制剖面结构，该结构以静止的小车开始，而在小车运动开始之前改变提升缆绳的长度。为了解决初始缆绳长度不确定性的问题，使用系统状态对初始缆绳长度的灵敏度的模型来增广系统模型，并用于设计鲁棒时间最优控制器。实验结果验证了时间最优和鲁棒时间最优控制剖面。
英文摘要
This paper addresses the problem of designing time-optimal control profiles for point-to-point control of a gantry crane moving in a two dimensional plane. It is assumed that the hoisting motor completes the hoisting maneuver at a constant rate and completes its transition in the same time that it takes for the cart to reach its terminal position. This results in a linear time-varying model and a closed form solution to the time-optimal control problem is shown to be parameterized with Bessel functions. A comprehensive analysis of the structure of the time-optimal control profile is studied by examining the switching function which illustrates the mechanism of introduction and decimation of switches in the bang-off-bang control profile. The variation of the number of switches in the optimal control profile is presented and a non-intuitive control profile structure is noted, one which initiates with a stationary cart, while the hoisting cable length is changed prior to the initiation of motion of the cart. To address the issue of uncertainties in the initial cable length, a model with the sensitivity of the system states with respect to the initial cable length is used to augment the system model and is used for the design of robust time-optimal controllers. Experimental results validate the time-optimal and robust time-optimal control profiles.
发表机构
- University at Buffalo (SUNY)（布法罗纽约州立大学）
机构由 AI 辅助整理，请以论文原文为准。
