Robust sliding mode observation method and robust sliding mode observer for lifting deflection angle of crane

A crane and declination technology, applied in the directions of transportation and packaging, load hanging components, etc., can solve problems such as the dynamic response error of state variables, and achieve the effect of enhanced robustness, good effect and reliable performance

Inactive Publication Date: 2016-02-03
德马科起重机械有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, the flexible connection between the hoisted object of the crane and the electric hoist is generally made of a steel wire rope. How to control the swing of the hoisted object during the operation of the electric hoist has always been a hot topic of research by experts. Some experts have designed a Luenberger observer. Using the measured The position information of the electric hoist makes approximate observations of the speed of the electric hoist, the swing angle of the hoisting weight and the angular velocity. It adopts the method of configuring the poles of the observer to study the relationship between the observer's observation speed of each

Method used

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  • Robust sliding mode observation method and robust sliding mode observer for lifting deflection angle of crane
  • Robust sliding mode observation method and robust sliding mode observer for lifting deflection angle of crane
  • Robust sliding mode observation method and robust sliding mode observer for lifting deflection angle of crane

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Experimental program
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Effect test

Embodiment

[0028] Such as figure 1 As shown, a robust sliding mode observation method of crane hoisting deflection angle, which includes the following steps:

[0029] (1) Set a speed sensor 41, an acceleration sensor 42 and a controller 51 on the electric hoist 1, and set an angle sensor 61, an angular velocity sensor 62 and a hoisting load sensor 63 on the pulley block 3;

[0030] (2) The controller 51 summarizes the data measured by the speed sensor 41, the acceleration sensor 42, the angle sensor 61, the angular velocity sensor 62 and the hoisting sensor 63 and performs matrix calculations to gradually estimate the system state variables and obtain the hoisting weight of the crane. Angle value.

[0031] The present invention also provides a robust sliding mode observer for crane hoisting deflection, which includes an electric hoist 1, the bottom of the electric hoist 1 is connected with a pulley block 3 through a wire rope 2, and the top of the electric hoist 1 is respectively set T...

Embodiment 2

[0034] Such as figure 1 As shown, a robust sliding mode observation method of crane hoisting deflection angle, which includes the following steps:

[0035] (1) Set a speed sensor 41, an acceleration sensor 42 and a controller 51 on the electric hoist 1, and set an angle sensor 61, an angular velocity sensor 62 and a hoisting load sensor 63 on the pulley block 3;

[0036] (2) The controller 51 summarizes the data measured by the speed sensor 41, the acceleration sensor 42, the angle sensor 61, the angular velocity sensor 62 and the hoisting sensor 63 and performs matrix calculations to gradually estimate the system state variables and obtain the hoisting weight of the crane. Angle value.

[0037] As an optimization of the above technical solution, the step (2) further includes:

[0038] (21) The uncertain nonlinear dynamical system of crane hoisting weight is:

[0039]

[0040] Among them, the state variable , is the electric hoist position (m), is the electric hois...

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Abstract

The invention relates to a robust sliding mode observation method and a robust sliding mode observer for the lifting deflection angle of a crane, and belongs to the field of monitoring of lifting deflection angles of cranes. The method comprises the following steps that (1) a speed sensor, an acceleration sensor and a controller are arranged on an electric hoist, and an angle sensor, an angular velocity sensor and a sling load sensor are arranged on a pulley block; and (2) a controller is used for collecting data measured by the speed sensor, the acceleration sensor, the angle sensor, the angular velocity sensor and the sling load sensor and carrying out matrix calculation, a system state variable is estimated gradually, and the value of the lifting deflection angle of the crane is obtained. The observer has the advantages of being high in anti-interference performance, reliable in performance and good in effect.

Description

technical field [0001] The invention belongs to the field of monitoring the hoisting deflection angle of a crane, and in particular relates to a robust sliding mode observation method and an observer for the hoisting deflection angle of a crane. Background technique [0002] At present, the flexible connection between the hoisted object of the crane and the electric hoist is generally made of a steel wire rope. How to control the swing of the hoisted object during the operation of the electric hoist has always been a hot topic of research by experts. Some experts have designed a Luenberger observer. Using the measured The position information of the electric hoist makes approximate observations of the speed of the electric hoist, the swing angle of the hoisting weight and the angular velocity. It adopts the method of configuring the poles of the observer to study the relationship between the observer's observation speed of each variable and the position of the pole of the obs...

Claims

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Application Information

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IPC IPC(8): B66C13/16B66C13/02
Inventor 苗杰贾金朋王建堂张莹
Owner 德马科起重机械有限公司
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