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Under-actuated mast crane positioning anti-swing nonlinear control method

A non-linear control, crane technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of dangerous energy, loss, inability to effectively control the crane, etc., to improve control performance and good control effect. Effect

Active Publication Date: 2017-08-08
NANKAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, once the system is subjected to unknown disturbances and the system state deviates from the equilibrium point, the linearized model will not be able to accurately describe its current actual operating state, and it will not be able to effectively control the crane
2) Most closed-loop controllers do not specify how to solve the problem of boom movement overshoot
When the control gain is not selected properly, serious overshoot may occur, causing the boom to move back and forth, causing potential danger and unnecessary energy loss

Method used

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  • Under-actuated mast crane positioning anti-swing nonlinear control method
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  • Under-actuated mast crane positioning anti-swing nonlinear control method

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Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0150] 1. Description of experimental steps

[0151] Section 1.1. Define error signal, state vector and overshoot constraints

[0152] Define the pitch angle error of the crane boom e 1 And rotation angle error e 2 Respectively

[0153] e 1 =φ 1 -φ 1d ,e 2 =φ 2 -φ 2d

[0154] Where φ 1 ,φ 2 Respectively represent the pitch angle and rotation angle of the boom, φ 1d ,φ 2d Respectively represent the target value of the pitch and rotation angle of the boom; define the crane state vector as Where θ 1 ,θ 2 Are the swing angles of the load in the radial and tangential directions respectively; the symbol " ”Means matrix / vector transposition; define the maximum overshoot allowed by the boom in both the pitch and rotation directions as ζ 1 ,ζ 2 , Which requires φ 1 -φ 1d 1 ,φ 2 -φ 2d 2 .

[0155] Section 1.2. Define control objectives

[0156] During the movement, the control target requires the boom pitch angle φ 1 And rotation angle φ 2 Reach the specified position and eliminate the radial sw...

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Abstract

The invention relates to an under-actuated mast crane positioning anti-swing nonlinear control method and belongs to the field of electromechanical system control. The method comprises the following steps of: constructing an energy function according to the kinetic model of a crane and constructing a Lyapunov candidate function by fully using a coupling relation between drivable variables (rotation angle and pitch angle of a boom) and un-drivable variables (radial swing angle and tangential swing angle of a load) so as to design a novel nonlinear controller. In addition, in order to limit the overshoot of the rotation of the boom, an amplitude limiting item is added to the controller to prevent the boom from swinging near a target position. The method can achieve accurate positioning control and rapid anti-swing control.

Description

Technical field [0001] The invention belongs to the field of electromechanical system control, and can effectively eliminate swing and position control of a three-dimensional under-driven mast crane system with a very complex dynamic model. Background technique [0002] In practical applications, most mechanical systems are under-driven. The so-called underdrive means that the independent drive of the system is less than the degree of freedom of the system. In recent decades, scholars have made great efforts to solve the control problems of similar systems. Their research objects include underactuated robotic systems. [1,2] , Crane system [3,4] , Rotational excitation and translational oscillator system [5] Wait. Among them, the crane is a typical under-driven system, which is widely used in construction sites, docks and factories to complete cargo loading and unloading work. However, due to the uncertainty of manual operation, it is sometimes difficult to accurately deliver th...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙宁杨桐陈鹤钱彧哲方勇纯
Owner NANKAI UNIV
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