Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Bridge crane finite time trajectory tracking controller and design method thereof

A tracking controller, finite time technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as insufficient

Active Publication Date: 2016-12-21
SHANDONG UNIV
View PDF5 Cites 24 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, such methods are only applicable to systems with a relative order less than or equal to 2
And the above control method can only guarantee the asymptotic stability of the system, which is far from enough in the transportation tasks requiring high precision

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
  • Bridge crane finite time trajectory tracking controller and design method thereof
  • Bridge crane finite time trajectory tracking controller and design method thereof
  • Bridge crane finite time trajectory tracking controller and design method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0085] The present invention will be further described below with reference to the drawings and embodiments.

[0086] For different transportation tasks, the load quality and rope length are usually uncertain or different. Moreover, external disturbances are always accompanied by industrial overhead crane systems. In order to solve the above problems, a trajectory tracking control method with finite time convergence is proposed by reasonably defining the non-singular terminal sliding surface. The proposed control method is absolutely continuous and solves the limitations and shortcomings of traditional sliding mode control methods. The Lyapunov method is used to conduct a rigorous theoretical analysis of the stability at the equilibrium point of the closed-loop system and the finite convergence time T is calculated. The simulation results show that the proposed control method has strong robustness against model uncertainties, system parameter changes and external disturbances. ...

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 bridge crane finite time trajectory tracking controller and a design method thereof. Firstly, a non-singular terminal sliding mode surface is introduced, and the advantages of a first-order sliding mode control method and a second-order sliding mode control method can be integrated together to obtain an absolutely continuous control input. Secondly, inspired by the static torque calculation method, a finite time controller is proposed. Through introducing the Lyapunov candidate function, the stability of a closed-loop system is analyzed, and the limited convergence time T is obtained. Through comparing the above controller, an LQR controller, an enhanced coupling nonlinear controller and a motion planning-based self-adaptive controller, the correctness and the effectiveness of the control method can be proved.

Description

Technical field [0001] The invention relates to a limited-time trajectory tracking controller for an overhead crane and a design method thereof. Background technique [0002] As a large-scale transportation tool, the overhead crane system has been widely used all over the world. However, due to the under-driving characteristics of the overhead crane system, it brings great challenges to the design of its high-performance controller. In recent years, researchers have achieved a series of constructive results for overhead crane systems. According to the fact that signal feedback is required, the control methods can be roughly divided into two categories: open-loop control methods and closed-loop control methods. The main idea of ​​the open loop control method is to make full use of the coupling relationship between trolley displacement and load swing. Input shaping methods, optimal control methods, trajectory planning methods and control methods based on differential flatness ar...

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): G05B13/04
CPCG05B13/042
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 Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

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

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com