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

A technology of bridge crane and initial load, which is applied in the direction of load hanging components, transportation and packaging, etc., and can solve problems such as difficult engineering application, initial swing angle of load is not 0, initial displacement of trolley, etc.

Active Publication Date: 2016-05-25
SHANDONG UNIV
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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 va

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

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Embodiment Construction

[0059] Below in conjunction with accompanying drawing and embodiment the present invention will be further described:

[0060] People have intuitive and clear requirements for the expected attenuation characteristics of the error trajectory, and it is easy to give the expected error trajectory. Once the expected error trajectory is set, it can be used for the system to perform different output tasks, and its set attenuation characteristics do not need to be modified. Therefore, the present invention firstly defines the expected error trajectory of the trolley and the load swing, and on this basis, establishes the error tracking dynamic model of the bridge crane system. Then the desired target system with a specific structure is constructed, and an error tracking control method that can transform the overhead crane system into a target system is proposed. For the stability and convergence of the closed-loop system, a strict theoretical analysis is carried out in this paper thr...

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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...

Claims

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Application Information

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IPC IPC(8): B66C13/18B66C13/16
CPCB66C13/16B66C13/18
Inventor 马昕张梦华田新诚李贻斌
Owner SHANDONG UNIV
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