Abstract: To suppress the payload swing and maintain the stability,a control strategy based on equivalent input interference was proposed.Through the homeomorphic coordinate transformation,the nonlinear effect was treated as an equivalent input and the crane system was therefore transformed into a linear one,which could effectively decrease the difficulty of system design.Considering the unmeasured constant interferences or the effect made by modeling error and external environment,a floating model predictive strategy was proposed to realize the global stability of crane system.The simulation result showed that the high-accuracy positioning and antiswing of upload were achieved so that the stability and safety of transportation process could be guaranteed accordingly.

Key words: underactuated crane, equivalent input interference, homeomorphic coordinate transformation, global stability control

摘要： 为了抑制负载摆动并保证整个行车过程的稳定性,针对二自由度固定绳长久驱动吊车系统,研究了其全局稳定控制策略。通过同胚坐标变换方法,将系统的非线性特性等效变换为系统的等价输入干扰,吊车系统因此等效为线性系统,从而降低了系统设计的难度;综合考虑实际系统存在的不可测恒值干扰、建模误差和外部环境对系统性能的影响,设计了无静差模型预测控制策略,实现了吊车运行的全局稳定控制。仿真和实验结果表明,设计的全局稳定控制策略能够有效实现吊车的高精度定位和负载防摆,提高了吊车运动的稳定性和安全性。

关键词: 欠驱动吊车, 等价输入干扰, 同胚坐标变换, 全局稳定控制