带有观测器的桥式起重机系统的轨迹跟踪
首发时间:2020-06-18
摘要:针对在随机振动环境中的直流电动机驱动的桥式起重机系统,研究了随机建模和轨迹跟踪控制问题。首先根据拉格朗日力学和电磁学建立确定性模型。然后根据动静法与等效电路,将环境中的随机噪声和电路中的热噪声转化为对力,力矩和电压的随机干扰,从而确立系统的随机模型。当桥式起重机系统的速度不可测时,构造一个速度观测器来观测速度,设计一个带有观测器的跟踪控制器使闭环系统是局部噪声到状态稳定,通过调节参数使轨迹跟踪误差充分小。
关键词: 直流电动机 跟踪 有色噪声 热噪声 Backstepping
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Trajectory tracking of bridge crane system with observer
Abstract:For the bridge crane system driven by DC motor in a random vibration working environment, the problems of random modeling and trajectory tracking control are studied. Frist, establish a deterministic model based on Lagrangian mechanics and electromagnetics. Then according to the dynamic and static method and the equivalent circuit, the random noise in the environment and the thermal noise in the circuit are converted into random interference to the force, torque or voltage, thereby establishing a random of the system. When the speed of the bridge crane system is not measurable, construct a speed observer to observe the speed, design a tracking controller with an observer to make the closed-loop system stable from local noise to the state, and adjust the parameters to make the trajectory tracking error sufficiently small.
Keywords: DC motor Track Colored noise Thermal noise Backstepping
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