Abstract: In terms of problems of 2D stage wire system designing that the poor performance of synchronous coordination, bad attitude curve and difficulties of ADRC parameter tuning caused by traditional staged control and inertia brake, a synchronous coordinating control method with zero speed parking mode of stage wire system is proposed, which is on the basis of ADRC technology and starting from establishing the disturbance rejection mode. First of all, it uses LESO and bandwidth-parameterization to simplify the parameter tuning of ADRC, then ensure the control performance of single wire system; Then, the suitable smooth transmission and deceleration algorithm is designed to achieve its smooth parking and zero speed braking as well as improve the track fitting effect. The simulation results show that, compared with the traditional control system, the control scheme presented in this paper shows better synchronous coordination performance and track fitting effect, it is also an effective way to ensure the stage wire dancing with the music.

Key words: 2D stage wire system, disturbance rejection mode, LESO; smooth speed, zero speed braking

摘要： 针对舞台威亚控制系统因分段式控制及惯性停车，导致同步协调运行性能及轨迹拟合效果不佳，传统ADRC因参数繁多致使整定困难等问题，根据自抗扰控制的思想，从建立威亚控制系统的“抗扰范式”入手，结合基于线性扩张观测器（LESO）的自抗扰控制技术，提出了一种零速停车模式下的舞台威亚系统平滑变速同步协调控制策略。该策略首先基于“抗扰范式”的理念为威亚系统单点吊机建模，并采用LESO及带宽参数整定方法，对改进型ADRC进行了相应参数的优化整定，在简化ADRC参数整定的同时，确保了威亚系统的单机控制性能；之后设计了适宜的平滑变速与减速算法，使舞台威亚能以零速停车模式并通过平稳变速，改善了威亚运行轨迹拟合效果。仿真结果表明，较之于分段式控制策略，该控制方法除表现出更好的同步协调及制动减速性能外，也为舞台威亚“随乐而舞”提供了保障。

关键词: 2D舞台威亚, 抗扰范式, LESO, 平滑变速, 零速停车