摘要
针对欠驱动桥式吊车如何在有效载荷情况下快速定位和消摆这一问题,笔者开展桥式吊车系统数学模型和消摆控制策略的研究,设计一种新型的反义RNA膜计算(aRNA-MC)优化算法,并将其分别用于最优比例积分微分(PID)控制器和最优滑模控制器的参数估计中。受反义RNA对细胞内基因表达调控机制的启发,笔者提出的反义RNA动态抑制规则可根据当前搜索进程动态调节抑制概率,兼顾算法初期的全局勘探和后期的局部开采,使得算法既具有较好的全局搜索能力,又具有较高的搜索精度。为实现欠驱动桥式吊车的最优消摆控制,将该对象在不同控制策略、不同评价函数和不同参数搜索算法下进行交叉实验。结果表明:基于反义RNA膜计算的时间参与滑模控制可保证欠驱动桥式吊车快速、准确搬运负载的同时,抑制吊绳摆动,快速、高效地消除摆角。
To solve the problem of anti-swing and positioning of under-actuated overhead crane with preload,the mathematical model of crane system and its anti-swing control strategies were analyzed.A novel antisense ribonucleic acid membrane computing(aRNA-MC)optimization algorithm was proposed to estimate the parameters of optimal proportion integral derivative(PID)controller and optimal sliding mode controller.Inspired by the regulation of intracellular gene expression by antisense RNA,the newly proposed antisense RNA dynamic inhibition rule could dynamically adjust the inhibition probability according to the percentage of the current search process,which met the dual needs of the initial global exploration and the later local exploitation.Thus,the algorithm both had great global search ability and high search accuracy.To realize the optimal anti-swing control for under-actuated overhead crane,the cross experiments based on different control strategies,different fitness function,and different parameter estimation methods were carried out.Results showed that time-related aRNA-MC based sliding mode optimal control could suppress the sling swing and eliminate the swing angle rapidly and effectively in the load handling process of the discussed under-actuated overhead crane system.
作者
杨世品
许云辰
李丽娟
薄翠梅
徐启
YANG Shipin;XU Yunchen;LI Lijuan;BO Cuimei;XU Qi(College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211800, China)
出处
《南京工业大学学报（自然科学版）》
CAS
北大核心
2021年第1期65-72,共8页
Journal of Nanjing Tech University(Natural Science Edition)
基金
国家自然科学基金(61973334,61403190,61873121,61673205)
江苏省自然科学基金面上项目(BK20181376)。
关键词
欠驱动系统
桥式吊车
反义RNA
最优消摆控制
PID控制器
滑模控制器
膜计算
under-actuated system
overhead crane
antisense RNA
optimal anti-swing control
PID controller
sliding mode controller
membrane computing
