Motion planning-based adaptive control method for bridge crane

Abstract

The invention discloses a motion planning-based adaptive control method for a bridge crane. The method comprises the following steps of: formulating a motion planning, and designing an expected position-time curve for a crane trolley, wherein if the trolley moves along the curve, the trolley can reach a target position relatively quickly, and the load swing angle is in a small acceptable range; meanwhile, adjusting parameters of the trolley aiming at different conditions and requirements so that the maximum transport speed and the acceleration performance of the trolley meet the requirements and constraints of actual working conditions; and designing an adaptive tracking controller, and acquiring a control output by measuring trolley position, speed, load swing angle and angular speed on line in real time. When the resistance parameters such as load quality, sling length, friction and the like of the crane trolley are unknown, the controller can well track the set motion curve, and finally the error, swing angle and control force are fully kept in a small range and finally converged to 0. Therefore, the invention has the advantages of the locus planning and adaptive tracking control method.

Description

technical field [0001] The invention belongs to the technical field of automatic control of nonlinear underactuated systems, in particular to an adaptive control method for bridge cranes based on motion planning. Background technique [0002] Overhead crane is a very common means of assembly and transportation. It uses ropes to connect the load to the trolley on the crane, and transports the load to the designated location through the movement of the trolley. Overhead crane is used in ports, warehouses, buildings, etc. It has been widely used in construction sites and other places. [0003] When the bridge crane is running, the movement of the trolley on the crane will cause the load to swing, so that the load may collide with the surrounding operators or other objects, resulting in damage to the load, and even casualties, especially when the trolley arrives After the specified position stops running, the load suspended by the crane will have a relatively strong residual sw...

AI Technical Summary

Problems solved by technology

[0005] Although many scholars in the field of automation at home and abroad have carried out a lot of research on the overhead crane system, and proposed a variety of different control methods for this underactuated system, trying to realize the safe and efficient transportation of the overhead crane, but there is no developed system yet. A convenient and reliable overhead crane automatic control system or method

[0006] And in the existing control algorithm, it lacks the ability to adapt to unknown parameters

However, the change of unknown parameters caused by different tasks and states has a great impact on each control algorithm, which largely limits the function realization and practicality of the controller.

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