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Bridge type crane system APD-SMC controller, bridge type crane system and control method

A bridge crane and controller technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., to achieve the effect of improving performance, reducing workload, restraining and eliminating load swing angle

Active Publication Date: 2017-07-18
SHANDONG UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0006] In order to solve the tremor phenomenon existing in the control method of the bridge crane system and the problem that the parameter information of the crane system needs to be known when calculating the equivalent part of the SMC control rate, the first purpose of the present invention is to provide a bridge crane system APD- SMC controller

Method used

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  • Bridge type crane system APD-SMC controller, bridge type crane system and control method

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[0077] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0078] It should be noted that the terminology used here is only for describing specific embodiments, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0079] figure 1 It is the overhead crane system model of the present invention.

[0080] Such as figure 1 The dynamic...

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Abstract

The invention discloses a bridge type crane system APD-SMC controller, a bridge type crane system and a control method. The bridge type crane system comprises a trolley, a bridge frame and a load; a target position of the trolley is defined as pd, state vectors are formed by displacement x of the trolley and a swing angle theta of the load relative to a vertical direction, and therefore a state equation of the bridge type crane system can be obtained; a composite function xi x, an auxiliary function, a sliding mode surface s and a hyperbolic tangent function are introduced; a bridge type crane system APD-SMC controller is therefore obtained. According to the bridge type crane system APD-SMC controller, the bridge type crane system and the control method, a coupling relation between the displacement of the trolley and the swing angle of the load is strengthened, and therefore transient control performance of the system is improved.

Description

technical field [0001] The invention belongs to the field of overhead crane control, and in particular relates to an overhead crane system APD-SMC controller, an overhead crane system and a control method. Background technique [0002] In recent decades, the research on the control method of overhead crane has become one of the hot spots in the field of modern industry. In order to improve the working efficiency of the crane, the trolley is required to transport the load to the target position as soon as possible. However, the acceleration and deceleration of the trolley and the existence of external disturbances will inevitably cause the load to swing. The swing of the load will seriously affect the positioning accuracy of the trolley and reduce the control performance of the entire system. Also, the swing of the load is prone to casualties or damage to surrounding buildings. Therefore, in order to improve the work efficiency and safety performance of the overhead crane ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 马昕张梦华宋锐荣学文田新诚田国会李贻斌
Owner SHANDONG UNIV
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