Bridge crane nonlinear control method based on anti-swing signal
An overhead crane, non-linear control technology, applied in cranes, load hanging components, transportation and packaging, etc., can solve problems such as single use, unsatisfactory effect, and reduced system transportation efficiency.
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[0124] Referring to the attached picture:
[0125] The non-linear control method of bridge crane based on anti-sway signal of the present invention, comprises the following steps:
[0126] Step 1. Selection of anti-swing signal
[0127] In order to improve the performance of the bridge crane system in suppressing the load swing during transportation, the following anti-sway signal x with anti-sway function is proposed by using the coupling relationship between the trolley and the load e :
[0128] x e = ∫ 0 t θ ( τ ) dτ - - - ( 9 )
[0129] Among them, θ(t) is the angle between the hanging rope and the vertical direction; Integral about time;, the (t) after the variable indicates that the parameter is time-varying, and (t) has been om...
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