噪声与振动控制2025，Vol.45Issue(6)：26-32,7.DOI:10.3969/j.issn.1006-1355.2025.06.005
复合运动下弹-摆耦合系统约化建模与能量成型控制
Reduced Modelling and Energy Shaping Control of Hoisting Systems with Elastic Boom and Spatial Pendulum under Compound Motion
摘要
Abstract
A dynamic reduced model and nonlinear control algorithm were developed for a hoisting system with elastic boom and pendulum under compound motion.The system components were described using the floating coordinate method,and the spring-mass system and spatial suspension system were used to model the boom's elastic vibration and load swing,respectively.Based on the Lagrange equation,a 7-DOF reduced model was derived for the combined rotational and boom motion.Considering the system's compound motion characteristics,using the energy shaping control principle,and defining the generalized positioning error of the load,an enhanced coupling nonlinear controller was designed,which can realize precise positioning of the system,boom vibration suppression and pendulum suppression simultaneously.The controller's stability was validated using the Lyapunov method and LaSalle invariance principle.Analysis of vibration control for a large hoisting apparatus demonstrates that the reduced model can accurately represents the system's dynamic behavior.The proposed enhanced coupling nonlinear controller significantly outperforms the traditional Proportional-Derivative and Linear Quadratic Regulator controllers in vibration suppression and exhibits superior robustness.关键词
振动与波/弹摆耦合系统/多体动力学/非线性控制/鲁棒性分析Key words
vibration and wave/elastic support-pendulum coupling system/multi-body dynamics/nonlinear control/robustness analysis分类
数理科学引用本文复制引用
袁国栋,颜世军,彭剑,任中俊..复合运动下弹-摆耦合系统约化建模与能量成型控制[J].噪声与振动控制,2025,45(6):26-32,7.基金项目
国家自然科学基金资助项目(11402085) （11402085）
湖南省教育厅优秀青年资助项目(23B0493) （23B0493）
