200711204009-刘美.doc吊车

二〇一一年六月本科毕业设计说明书学校代码：10128学号：200711204009题目：龙门吊车重物防摆的鲁棒PID的控制设计学生姓名：刘美学院：电力学院系别：自动化系专业：自动化班级：自（电）07-1班指导教师：王文兰副教授内蒙古工业大学本科毕业设计说明书摘要针对龙门吊车在吊运过程中不可避免的出现摆动现象，本文采用基于拉格朗日方程的系统建模方法，建立了龙门吊车的动力学模型，将三维模型消去绳长这个自由度后转化为二维模型，使龙门吊车动力学模型更加具有普遍性，易于研究。由于该模型为非线性，为了便于应用经典控制理论对其进行设计，故忽略了绳索运动的阻尼、弹性、质量及其他扰动，在平衡位置处进行了线性化，将其简化为线性定常的系统模型，并通过模型封装技术，验证了吊车系统数学模型的有效性。同时，针对简化后的系统模型，借鉴直流电机调速的双闭环控制思想，取外环为位置环，内环为摆角环设计了鲁棒PID控制器，并进行了仿真。从仿真结果可以看出，可变参数摆角或位置中某一参数在设计范围内改变，另一参数保持不变情况下，系统的动态性能都能够满足要求。当参数改变超出设计范围时，系统仍能克服扰动并最终达到稳定。所以，该控制系统具有较强的鲁棒性。关键词：龙门吊车；动力学模型；防摆；鲁棒PID；仿真内蒙古工业大学本科毕业设计说明书AbstractIntheliftingprocess,theswingofgantrycranesisinevitable.Inthispaper,adynamicmodelofgantrycranesisestablishedbasedonLagrangeequation.Afterignoringthefreedomdegreeofthelengthoftherope,thethreedimensionalmodelistransferintoatwodimensionalmodel.Inthisway,thedynamicmodelofthegantrycranewillbemoreuniversalandeasiertostudy.Inordertousetheclassicalcontroltheorytodesignthemodel,weignoretheropedamping,flexibility,weightandotherdisturbances,andlinearizationitintheequilibriumpositionbecauseofnonlinearmodel,thusitcanbesimplifiedasalineartime-invariantsystemmodel,thenIverifytheeffectiveofthegantrycrane’smathematicalmodelthroughthemodelloadingtechnique.Meanwhile,asforthesimplifiedsystemmodel,accordingtothethoughtofthedoubleclosedloopDCmotorspeedcontrol,theouterloopistakenasthepositionloopandtheinnerloopistakenastheswingangleloop.ThenIdesignarobustPIDcontrollerandmakesimulation.Fromtheresultofthesimulation,wecanlearnwhentheswingingangleorpositionwhicharevariableparametersischangedinthedesignrange,theotherparameterremainsconstant,allthedynamicperformanceofthesystemcanmeettherequirements.Whentheparametersarechangedbeyondthedesignrange,thesystemcanstillovercomethedisturbanceandstabilizeeventually.Therefore,thecontrolsystemhasstrongrobustness.Keywords:gantrycranes;dynamicmodel;antipendulum;robustPID;Simulation内蒙古工业大学本科毕业设计说明书目录引言...................................................................................................................................1第一章龙门吊车概述.........................................................................................................21.1起重机简介.................................................................................................................21.2龙门吊车的分类及系统构成.....................................................................................21.3选题的目的与意义.....................................................................................................4第二章鲁棒PID控制理论研究.........................................................................................52.1PID控制概述...............................................................................................................52.1.1PID控制器的工作原理........................................................................................52.1.2PID调节器的优点................................................................................................62.2鲁棒控制概述.............................................................................................................62.2.1控制系统的鲁棒性..............................................................................................62.2.2鲁棒控制理论的发展..........................................................................................72.2.3鲁棒控制系统应用领域......................................................................................7第三章MATLAB仿真软件简介........................................................................................93.1MATLAB语言特点.....................................................................................................93.2SIMULINK环境简介................................................................................................103.3SIMULINK的封装技术............................................................................................10第四章龙门吊车系统建模...............................................................................................124.1建模机理...................................................................................................................124.2系统建模...................................................................................................................124.3模型简化...................................................................................................................144.4模型验证...................................................................................................................154.4.1模型封装............................................................................................................154.4.2模型验证............................................................................................................16第五章鲁棒PID控制方案...............................................................................................195.1鲁棒PID控制与灵敏度...........................................................................................195.2鲁棒PID控制系统设计...........................................................................................205.3仿真实验....................................