Abstract: To solve the problem of complex double-pendulum effect presented by the overhead crane system with time-varying rope length,an adaptive disturbance rejection controller based on the energy coupling method was proposed to suppress the two-stage swing of the hook and the payload.According to the dynamic coupling relationship between the trolley and the rope,the dynamic model of the time-varying rope length overhead crane with double-pendulum effect was established,the parameter factors were constructed to suppress overshooting,the positioning and anti-pendulum error signals were introduced,and the anti-pendulum control scheme was designed based on the energy storage function of the system.The experimental results showed that the proposed controller could ensure the accurate positioning of the trolley and the rope without overshooting,and had excellent robustness to suppress the two-stage swing with parameters uncertainties and external disturbances.Comparing with the traditional controllers and the new controllers,the positioning time of the trolley and the rope was saved by about 18%,and the maximum swing angles of the hook and the payload were reduced by about 19% and 30% respectively.

Key words: double-pendulum overhead crane, energy method, time-varying rope length, two-stage swing, adaptive disturbance rejection control

摘要： 针对绳长时变的吊车系统所呈现的复杂双摆效应问题,提出了一种基于能量耦合方法的自抗扰控制器来抑制吊钩和负载的两级摆动。根据台车和吊绳的动态耦合关系,建立了具有双摆效应的绳长时变吊车动力学模型,构造了抑制超调量的参数因子,引入了定位和防摆误差信号,基于系统的储能功能设计了防摆控制方案。实验结果表明,所提控制器在保证台车与吊绳精准定位的同时不会出现超调现象,当存在参数不确定性与外界扰动时也能有效抑制两级摆角,鲁棒性能良好;对比传统控制器与新型控制器,台车和吊绳的定位时间节省了约18%,吊钩和负载最大摆角可降低约19%和30%。

关键词: 双摆吊车, 能量法, 绳长时变, 两级摆动, 自抗扰控制