Abstract: Gantry cranes,as typical underactuated systems,face challenges in anti-sway positioning control due to modeling errors,unknown disturbances and friction.To address these issues,an Improved PID control strategy based on  Adaptive Disturbance Observer (IPID-ADOB) was proposed.The adaptive disturbance observer serves as a feedforward compensator to estimate and compensate for composite disturbances (modeling errors and unknown disturbances) in real-time for reducing uncertainties affecting anti-sway positioning performance.An improved PID control strategy was developed to overcome steady-state errors caused by inaccurate friction compensation and to prevent overshoot,further enhancing control performance.To reconcile the conflicting demands of high-precision positioning of the boom and efficient suppression of load swing,the Integral of Time-weighted Squared Error (ITSE) was selected as the objective function,and the dung beetle algorithm was used to optimize the anti-sway positioning controller parameters.The global stability of the closed-loop system was proven using Lyapunov theory.Simulation results verified the effectiveness of the proposed control method.

Key words: gantry crane, improved PID control strategy based on adaptive disturbance observer, composite disturbance, adaptive disturbance observer, dung beetle algorithm

摘要： 门座式起重机作为典型的欠驱动系统,实际控制过程中存在的建模误差、未知扰动、摩擦等问题,为门机的防摇定位控制带来挑战。为解决上述问题,提出了一种基于自适应干扰观测器的改进PID(IPID-ADOB)控制策略。首先,采用自适应干扰观测器作为前馈补偿器,对复合扰动(建模误差和未知干扰)进行实时估计和补偿,以减少不确定性对防摇定位控制性能的影响;其次,提出一个改进的PID控制策略以克服由摩擦补偿不准确引起的稳态误差问题并避免超调,进一步提高控制性能;此外,为解决吊臂高精度定位和高效抑制负载摆动之间相互矛盾的问题,选择ITSE作为目标函数,采用蜣螂算法优化防摇定位控制器的参数。利用Lyapunov理论证明了闭环系统的全局稳定性。最后,仿真结果验证了控制方法的有效性。

关键词: 门座式起重机, 基于自适应干扰观测器的改进PID, 复合扰动, 自适应干扰观测器, 蜣螂算法