Enhanced coupling nonlinear control method with state restraining for three-dimensional bridge crane

Abstract

The invention discloses an enhanced coupling non-linear control method with state restraining for a three-dimensional bridge crane. Firstly, two generalized signals combining trolley displacement and load title angle are introduced, the double targets of accurate trolley positioning and effective load titling elimination are converted into regulation control of the generalized signals, so that a new similar energy function is constructed based on the conversion; in order to control the trolley track error and the load title angle to be in the allowable range all the time, two potential functions and a new similar energy function are combined, so that a novel energy storage function is designed. The method has strong robustness on different rope lengths, load weight, target position and external disturbance; the displacement of a trolley in an X axis direction and a Y axis direction is limited in a proper range, so that the transient state control performance of a system is enhanced; in the whole conveying process, the displacement caused by load titling is limited within an allowable range, so that the amplitude value of the title angle is directly limited.

Description

technical field [0001] The invention relates to an enhanced coupled nonlinear control method with state constraints for the control of an underactuated three-dimensional bridge crane system, and belongs to the technical field of nonlinear control of a three-dimensional bridge crane system. Background technique [0002] With the progress of society, bridge crane system has been widely used as a large-scale transportation tool in petroleum, chemical industry, port, railway, construction site and other occasions. So far, due to the lack of high-performance control methods for crane systems, most cranes are still operated by experienced staff. However, it takes a lot of time to train these operators, and manual operation has disadvantages such as low efficiency, poor positioning accuracy, and prone to misoperation. Considering the disadvantages of manual operation, many scholars at home and abroad are committed to the research of high-performance control methods. The control g...

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Problems solved by technology

[0036] Aiming at the problems that the existing anti-swing positioning control method of the underactuated crane system cannot guarantee the error signal range and the working efficiency of the two-dimensional bridge crane system is low, the present invention proposes a high stability, robustness and transient control An enhanced coupled nonlinear control method for 3D overhead crane with state constraints, which can ensure that the error signal of the 3D overhead crane system is within a preset range and gradually converges to zero

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