Bridge crane error tracker with initial load swing angle and trolley displacement and method

Abstract

The invention discloses a bridge crane error tracker with an initial load swing angle and trolley displacement and a method. According to the method, an underactuation bridge crane system initial dynamical model is established; an expected trolley error trace and an expected swing angle error trace are given; error tracking signals for trolley positioning and load swinging are determined; an underactuation bridge crane system error tracking dynamical model is obtained; a target system model enabling a Lyapunov function to be stable is established, and the bridge crane error tracker with the initial load swing angle and trolley displacement is obtained according to the target system model and the underactuation bridge crane system error tracking dynamical model. The bridge crane error tracker has the advantages that under the condition that the initial load swing angle and initial trolley displacement which are zero in a conventional control method are expanded, the initial swing angle of a load and the initial displacement of a trolley are allowed to be of any values.

Description

technical field [0001] The invention relates to the technical field of control of a two-dimensional overhead crane system, in particular to an overhead crane system error tracker and a design method with an initial load swing angle and a trolley displacement. Background technique [0002] In recent decades, underactuated electromechanical systems have been widely used in practical engineering. Compared with the full-drive system, the under-actuated system has many advantages such as simple mechanical structure, low cost, low energy consumption, and light weight. These advantages are of great significance in the engineering field, making the control of underactuated systems one of the hot research directions. As a typical under-actuated system, overhead cranes have been widely used in important fields such as logistics, construction, manufacturing, and metallurgy. In practical applications, it is very important to improve the work efficiency and safety performance of the ov...

AI Technical Summary

Problems solved by technology

However, in practical situations, it is inevitable that the initial displacement of the trolley and the initial swing angle of the load are not zero. Therefore, it is very important to study the control method under any initial value condition

Moreover, for the trajectory planning method, when the target point of the trolley is changed, the trajectory parameters need to be recalculated offline, which is very difficult for practical engineering applications

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