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.

Inactive Publication Date: 2015-04-22
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

In particular, when the trolley reaches the target position, the existing method cannot guarantee that the load has no residual swing, thus reducing the transportation efficiency of the system
For example, several energy-based contro

Method used

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  • Bridge crane nonlinear control method based on anti-swing signal
  • Bridge crane nonlinear control method based on anti-swing signal
  • Bridge crane nonlinear control method based on anti-swing signal

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Experimental program
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Embodiment Construction

[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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Abstract

A bridge crane nonlinear control method based on an anti-swing signal. Aiming at under-actuated bridge crane systems, the invention provides a nonlinear control method based on an anti-swing signal, which has good transient performance and load swing inhibition performance when compared with existing methods. The method comprises designing an anti-swing signal with anti-swing function, and constructing a novel positioning error signal based on the anti-swing signal; a control method is provided, which can be used for both adjusting control and trace tracking control. When compared with existing control methods, the control method not only widens the application scope of a controller, but also improves the system transient performance, and greatly improves the system control efficiency. Experiment results further verifies the control effect of the control method provided by the invention, and the control method has wide application prospects.

Description

technical field [0001] The invention relates to an automatic control method in the field of nonlinear underactuation, in particular to a nonlinear control method for an underactuated bridge crane based on an anti-sway signal. Background technique [0002] Bridge crane is a typical nonlinear, strongly coupled, underactuated system, which has the advantages of strong load capacity, flexible operation, and remarkable energy saving. It has been widely used in various industrial places, such as factories, workshops, docks, etc. , to complete the delivery and integrated processing of goods and other tasks. The task of the bridge crane is to realize the fast, accurate, point-to-point delivery of goods without large swings. However, for bridge cranes, the movement of the trolley will undoubtedly cause the load to swing, which will not only reduce the overall efficiency, affect the precise placement of the load during the lifting process, but may also cause collisions and cause safe...

Claims

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Application Information

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IPC IPC(8): B66C13/18
CPCB66C13/22B66C2700/0321
Inventor 何熊熊武宪青欧县华史秀兰
Owner ZHEJIANG UNIV OF TECH
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