散货码头门机负载防摇无模型自适应控制OA
Model-free adaptive control for load anti-swing of bulk terminal portal crane
针对门机在散货码头作业工况下的负载防摇控制问题,考虑门机系统难以精确建模及外部未知扰动情况,提出一种改进的双输入双输出无模型自适应控制方法.首先,基于传统紧格式动态线性化数据模型在输出变量前增加一个时变参数向量,改进的数据模型能更好地描述门机系统的动态特性,提高控制器的自适应性和鲁棒性;然后,利用整定算法在线计算伪雅可比矩阵估计律,设计适用于散货码头门机系统的改进无模型自适应负载防摇控制算法;最后,对系统稳定性进行理论分析.通过仿真对比验证了改进后的控制方法可以更有效抑制并快速消除负载摆动,同时对外部未知扰动具有较强的鲁棒性.
Aiming at the load anti-sway control problem under the operating conditions of portal crane in bulk terminals,an improved double-input double-output model-free adaptive control method is proposed in consideration of the difficulty in accurately modeling the portal crane system and the unknown external perturbations.Firstly,a time-varying parameter vector is added in front of the output variables based on the traditional tight-format dynamic linearized data model,so that the improved data model can better describe the dynamic characteristics of the portal crane system and improve the adaptability and robustness of the controller.Then,the pseudo-Jacobian matrix estimation law is computed online by using the integrating algorithm,and the improved model-free adaptive load sway control algorithm is designed to apply to the portal crane system of the bulk terminal.Finally,the stability of the system is theoretically analyzed.Through simulation and comparison,it is verified that the improved control method can more effectively inhibit and quickly eliminate the load swing,and at the same time,it has strong robustness to unknown external disturbances.
姚文龙;刘旺旺;池荣虎;慕成林;李博洋
青岛科技大学数据科学学院,山东青岛 266100青岛科技大学自动化与电子工程学院,山东青岛 266100佛山大学机电工程与自动化学院,广东佛山 528225青岛科技大学自动化与电子工程学院,山东青岛 266100青岛科技大学机电工程学院,山东青岛 266100
门座式起重机无模型自适应控制散货码头负载防摇双输入双输出系统
portal cranemodel-free adaptive controlbulk terminalload anti-swingdouble-input double-output system
《控制理论与应用》 2026 (3)
509-520,12
国家自然科学基金项目(62273192),山东省重大科技创新项目(2021SFGC0601),山东省科技型中小企业创新能力提升项目(2022TSGC1003)资助.Supported by the National Natural Science Foundation of China(62273192),the Shandong Province Major Science and Technology Innovation Project(2021SFGC0601)and the Shandong Province Science and Technology SMEs Innovation Capacity Enhancement Project(2022TSGC1003).
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