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Energy-coupled controller and control method for bridge crane with initial input constraints

An energy-coupling, bridge-type crane technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problems of inconvenient practical application, unfavorable engineering realization, and reduced system work efficiency, etc., and achieves simple and strong structure. The effect of robustness

Active Publication Date: 2017-08-25
SHANDONG UNIV
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Problems solved by technology

[0006] The controller structure designed by the above method is too complicated, which is not convenient for practical application, and when the trolley stops running, the load has obvious residual swing, which greatly reduces the overall working efficiency of the system and is not conducive to project realization.

Method used

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  • Energy-coupled controller and control method for bridge crane with initial input constraints
  • Energy-coupled controller and control method for bridge crane with initial input constraints
  • Energy-coupled controller and control method for bridge crane with initial input constraints

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Embodiment Construction

[0062] Below in conjunction with accompanying drawing and example the present invention will be further described:

[0063] The invention discloses an energy coupling controller for bridge cranes with initial input constraints. Firstly, a generalized horizontal displacement signal including trolley movement, hook swing, and load swing around the hook is introduced; The coupling relationship between motion, hook swing, and load swing around the hook improves the transient control performance of the controller. Then a hyperbolic tangent function is introduced into the designed controller, which greatly reduces the initial driving force, thereby ensuring the smooth start of the trolley and avoiding the large swing of the load; the specific expression of the controller is:

[0064]

[0065] Among them, k p ,k d ∈R + is a positive control gain; F rx is the friction force between the trolley and the bridge;

[0066] Generalized load level displacement signal X p The specifi...

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Abstract

The invention discloses a bridge crane energy coupling controller and control method with initial input constraint. A generalized load horizontal displacement signal is established, so that the coupling relation among trolley movement, lifting hook swinging and swinging around a lifting hook of a load is enhanced, and the transient state control performance of the controller is improved. A hyperbolic tangent function is introduced into a control rate, and initial drive force is lowered greatly by means of the control method, so that smooth starting of a trolley is guaranteed, and great swinging of the load is avoided. Strict mathematical analysis is carried out on the stability of a closed-loop system at a balance point by means of a Lyapunov method and a LaSalle invariance principle. It is indicated by the results that the control algorithm has good control performance and has very high robustness on different load mass, rope lengths, target positions and external disturbances.

Description

technical field [0001] The invention relates to the technical field of control of a two-stage pendulum type bridge crane system, in particular to an energy coupling controller and a control method for a two-stage pendulum type bridge crane with initial input constraints. Background technique [0002] As a large-scale transportation tool, overhead cranes have been widely used in construction sites, seaports, wharves and other industrial fields. Due to the underactuated characteristics of the crane system, its control has brought great challenges. For the crane system, the fast movement of the trolley will inevitably cause the load to swing, which will not only reduce the overall transportation efficiency of the system, but may also cause collision accidents. The complete crane operation process mainly includes three steps: load lifting, horizontal transport and load dropping. Among them, the control problem of the second step is more complicated and difficult. The goal of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04B66C13/22
Inventor 马昕张梦华田新诚荣学文柴汇宋锐李贻斌
Owner SHANDONG UNIV
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