Partial saturation adaptive controller of bridge crane, control system and control method

An adaptive controller and bridge crane technology, applied in the direction of transportation and packaging, load suspension components, etc., can solve the problems that the bridge crane cannot be guaranteed to start smoothly, and it is difficult to measure

Active Publication Date: 2016-10-26
SHANDONG UNIV
View PDF5 Cites 12 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Currently, most of the control methods for the accompanying load lifting motion cannot guarantee the smooth start-up of the overhead crane
Due to the complex working environment of the overhead crane system, the overhead crane system is usually affected by uncertain factors of system parameter

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Partial saturation adaptive controller of bridge crane, control system and control method
  • Partial saturation adaptive controller of bridge crane, control system and control method
  • Partial saturation adaptive controller of bridge crane, control system and control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0053] Below in conjunction with accompanying drawing and embodiment the present invention will be further described:

[0054] The schematic diagram of the bridge crane system accompanying the load lifting movement is as follows: figure 1 Therefore, its dynamic model is as follows:

[0055] ( M + m p ) x ·· + m p l θ ·· cos θ + m p l ·· sin θ + 2 m p l · θ · cos θ - m p l θ · 2 sin θ ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a partial saturation adaptive controller of a bridge crane, a control system and a control method. The control method comprises the following steps: wx online estimation w(^)x and wl online estimation w(^)l are input to a neural network for dynamic learning; w(^)x and w(^)l' undergoes dynamic output by the neural network and are transmitted to the partial saturation adaptive controller; and finally the partial saturation adaptive controller outputs driving force which can guarantee smooth start-up of the bridge crane system, wherein wx and wl are both auxiliary vectors. By introducing hyperbolic tangent function into the controller, initial driving force is greatly reduced, and smooth start-up of the bridge crane can be guaranteed.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a local saturation adaptive controller, a control system and a control method of an overhead crane. Background technique [0002] Underactuated electromechanical systems include cranes, inertial pendulum systems, flexible systems, underactuated robots, underactuated vehicles, etc., and have the advantages of simple structure, low energy consumption, low cost, light weight, and high system flexibility. However, due to the high nonlinearity of the system and the small amount of control, it brings great challenges to its control. As a typical underactuated electromechanical system, overhead cranes have been widely used in construction sites, seaports, docks, production lines and other occasions to complete the transportation of goods, and its main goal is fast and accurate load positioning. Generally speaking, a complete crane operation process mainly includes the follo...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B66C13/18
CPCB66C13/18
Inventor 马昕张梦华宋锐荣学文田新诚李贻斌
Owner SHANDONG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap