机械科学与技术2025，Vol.44Issue(6)：979-985,7.DOI:10.13433/j.cnki.1003-8728.20230252
欠驱动桥式起重机自耦PID防摇控制策略
Auto-coupling PID Anti-swing Control Strategy of Underactuated Bridge Crane
摘要
Abstract
This paper proposes an auto-coupling proportional-integral-differential control method based on the status directive to solve the Anti-Swing control problem in the two-dimensional overhead crane system.The technique uses a coordinate transformation to map the underactuated overhead crane system into a high-order linear disturbance system in order to decouple the new system's control input.The status directive is built based on the system state variables and is set as the control target of the controller based on the ACPID control strategy.Furthermore,complex frequency domain analysis has proved the stability of the closed-loop control system.The results of the simulation and experiment compared with other methods are presented to demonstrate the simplicity and effectiveness of the proposed technique.关键词
防摇控制/欠驱动系统/状态指令/ACPID控制/速度因子Key words
anti-swing/underactuated system/status directive/ACPID control/speed factor分类
信息技术与安全科学引用本文复制引用
章禛昊,曾喆昭,王伟,熊屹林..欠驱动桥式起重机自耦PID防摇控制策略[J].机械科学与技术,2025,44(6):979-985,7.基金项目
湖南省教育厅重点项目(21A0183) （21A0183）
