论文标题
基于视觉的控制指关节臂起重机，并具有在线电缆长度估算
Vision-based control of a knuckle boom crane with online cable length estimation
论文作者
论文摘要
提出了一个基于视觉的控制器，用于指关节动臂起重机。控制器用于控制起重机尖端的运动，同时补偿有效载荷振荡。有效载荷的振荡是用固定在起重机国王的三个相机测量的，用于跟踪固定在有效载荷电缆上的两个球形标记。根据颜色和尺寸信息，每个相机都标识与标记相对应的图像点。然后使用图像点的线性三角剖分确定有效载荷角。扩展的卡尔曼滤波器用于估计有效载荷角度和角速度。还使用带有投影的最小二乘技术估算有效载荷电缆的长度。起重机由线性级联控制器控制，在该控制器中，内部控制回路设计用于湿振荡，而起重机尖端由外环控制。控制器的控制变量是命令的起重机尖端加速度，该加速度使用速度环将其转换为速度命令。使用缩放的实验室版本的指关臂起重机对控制系统的性能进行了实验研究。
A vision-based controller for a knuckle boom crane is presented. The controller is used to control the motion of the crane tip and at the same time compensate for payload oscillations. The oscillations of the payload are measured with three cameras that are fixed to the crane king and are used to track two spherical markers fixed to the payload cable. Based on color and size information, each camera identifies the image points corresponding to the markers. The payload angles are then determined using linear triangulation of the image points. An extended Kalman filter is used for estimation of payload angles and angular velocity. The length of the payload cable is also estimated using a least squares technique with projection. The crane is controlled by a linear cascade controller where the inner control loop is designed to damp out the pendulum oscillation, and the crane tip is controlled by the outer loop. The control variable of the controller is the commanded crane tip acceleration, which is converted to a velocity command using a velocity loop. The performance of the control system is studied experimentally using a scaled laboratory version of a knuckle boom crane.
