Underactuated bridge crane double-pendulum anti-swing control method based on active disturbance rejection technology

Abstract

The invention provides an underactuated bridge crane double-pendulum anti-swing control method based on the active disturbance rejection technology and belongs to the technical field of bridge crane anti-swing control. The underactuated bridge crane double-pendulum anti-swing control method comprises the following steps: S1, establishing a dynamics model; S2, establishing a differential tracker and obtaining the displacement differential of a trolley; S3, designing an extended state observer; and S4, obtaining a control law. With adoption of the method, the contradiction between the swing angle and the displacement is coordinated, the control performance of the double-pendulum bridge crane can still be ensured when the system model is not precise, has external disturbance and is nonlinear,the swing angle is reduced as soon as possible and the transportation task is finished, and the system reliability and efficiency are improved.

Description

technical field [0001] The invention belongs to the technical field of anti-swing control of bridge cranes, and relates to a double-swing anti-swing control method of underactuated bridge cranes based on active disturbance rejection technology. Background technique [0002] As one of the common cargo handling tools, overhead cranes are widely used in various fields, such as seaports, nuclear power plants, steel mills, workshops, road construction, etc., and play an extremely important role. For the overhead crane system, its main control goal is the fast and accurate "point-to-point" handling of the load. However, due to the under-actuated characteristics of the crane and the system is easily affected by various external disturbances, the load is prone to large swings during the handling process, which seriously affects the positioning accuracy of the load. While reducing the working efficiency of the system, it also brings Many unsafe factors. In some special occasions, t...

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Problems solved by technology

[0004] For now, due to the lack of high-performance automatic control methods for cranes, most cranes still rely on manual operation, and the working efficiency of the system is completely dependent on the operating experience of the workers.

This conventional operation method shows the following disadvantages: 1) It has high requirements for operators, and requires long-term training and long-term experience accumulation; 2) The operation efficiency is low, and the swing elimination effect is poor. Finally, the next operation can only be carried out after the load swing is slowly attenuated to a certain degree under the action of air resistance; 3) The positioning accuracy is poor, and when the trolley is about to reach the target position, its movement must be adjusted repeatedly; 4) Long-term continuous work is easy to cause fatigue and lead to misoperation; 5) low safety factor, frequent casualties

[0005] Due to the highly nonlinear structure of the bridge crane system and the influence of friction and air resistance, it is difficult to precisely control the position of the load; moreover, the load will swing during the movement of the trolley, which greatly Increased the unsafe factors of the crane system

At present, most of the control strategies that are discussed more need accurate control models, and then use control strategies such as input shaping and optimal control theory, although they have achieved good results; but considering the industrial control process, most of the accurate models are difficult to obtain. , and due to the existence of disturbances, these control strategies are sometimes difficult to implement and even make the system oscillate

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