Positive and negative POSICAST input shaping method-based crane anti-swing control method

A technology of input shaping and control methods, applied in adaptive control, general control systems, control/regulation systems, etc., can solve problems such as returning the swing angle to zero

Active Publication Date: 2016-03-09
SHANGHAI MARITIME UNIVERSITY
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  • Abstract
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  • Claims
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Problems solved by technology

[0004] The purpose of the present invention is to solve the open-loop control method for the damped anti-sway system based on the inpu

Method used

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  • Positive and negative POSICAST input shaping method-based crane anti-swing control method
  • Positive and negative POSICAST input shaping method-based crane anti-swing control method
  • Positive and negative POSICAST input shaping method-based crane anti-swing control method

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Embodiment Construction

[0029] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

[0030] The container crane equipment has the quay bridge, the trolley of the yard bridge, the connected wire rope and the load, and the whole system can be approximated as a mobile single pendulum system, such as figure 1 shown.

[0031] The whole system controls the acceleration a of the car c , and then adjust the running speed V of the trolley c , so that the swing angle of the load is controlled to achieve the purpose of anti-sway. Among them, the mass of the load is m, the length of the sling is L, and the load is connected to the trolley through the sling. The tangential acceleration when the load is swinging is a m , the tangential velocity is V m . For convenience of analysis, the present invention makes the above assumptions to th...

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Abstract

The invention relates to a positive and negative POSICAST input shaping method-based crane anti-swing control method. The method includes a positive and negative POSICAST method adopted when a swing angle returns to zero after a time point 3Td/2, a positive and negative POSICAST method adopted when the swing angle returns to zero after a time point Td, and a positive and negative POSICAST method adopted when the swing angle returns to zero after a time point 3Td/4, wherein Td is the damped oscillation period of a system. The method of the invention is either applicable to a damped system or an un-damped two-order system. The method of the invention is an open-loop control method. With the method adopted, a measuring sensor for closed-loop feedback is not required. According to the method of the invention, step acceleration input is utilized, and the shaping of step acceleration output is targeted. Compared with a pulse acceleration input method, the method has the advantages of continuous speed change and easiness in engineering realization. The method of the invention is applicable to any damped two-order systems adopting step signals as input, and is used for an anti-swing system or a system of which the output of a certain item is expected to return to an original position.

Description

technical field [0001] The invention relates to a port crane anti-sway control method, in particular to a crane anti-sway control method based on a positive and negative POSICAST input shaping method. Background technique [0002] The research on input shaping technology originated from the suppression of the residual oscillation of the oscillation mode of the servo system with small damping. The focus of this method is to design the most suitable input shaping controller by means of time delay to avoid the oscillation of the object, and it is an open-loop control method. The input shaper can not only achieve the anti-sway effect of the crane by using a simple open-loop control method, but also avoids the unavoidable and expensive measuring device used to measure the feedback signal when the feedback control scheme is adopted, making this scheme easy to promote. [0003] At present, there are many domestic researches on applying input shaping technology to the field of cran...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/041
Inventor 郁春丽牛王强
Owner SHANGHAI MARITIME UNIVERSITY
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