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
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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 c...

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  • 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

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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. ...

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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...

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Application Information

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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
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