华中科技大学学报（自然科学版）Issue(5)：61-65,5.DOI:10.13245/j.hust.140513
惯性参数不确定的物料提升机位置控制
Positioning control of elevator with uncertain inertial parameters
摘要
Abstract
Accurate positioning control of a single-bucket-chain elevator with uncertain inertial param-eters was studied .Firstly ,the working principle of the elevator was expounded and the dynamic mod-el of the elevator was built via the Lagrange of the second kind .Secondly ,on the assumption that the control force was bounded in norm ,a continuous feedback controller was designed by using a given implicit Lyapunov function .The controller′s gains ,which are differentiable functions of the system state variables ,increase and tend to infinity as the state variables tend to zero ,but the control force always satisfies the given constrain .Finally ,the dynamic equation was solved using New ton′s method and Runge-Kutta method .Simulation results demonstrate that the controller greatly compensates the effects of uncertain inertial parameters ,fulfills the accurate point to point control of the elevator ,and has good robustness .关键词
物料提升机/参数不确定/位置控制/李雅普诺夫函数/动力学/鲁棒性Key words
elevator/uncertain parameters/positioning control/Lyapunov function/dynamics/ro-bustness分类
信息技术与安全科学引用本文复制引用
郭宇飞,侯保林..惯性参数不确定的物料提升机位置控制[J].华中科技大学学报（自然科学版）,2014,(5):61-65,5.基金项目
国家自然科学基金资助项目（51175266）． （）
