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Enhanced coupling nonlinear pd sliding mode controller and method for bridge crane system

A technology of bridge cranes and controllers, which is applied to cranes and other directions, can solve problems such as unfavorable engineering realization, chattering phenomenon, complex controller structure, etc., and achieve the effect of improving transient control performance, simple structure, and strong robustness

Active Publication Date: 2019-12-17
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, these two sliding mode control methods have three main disadvantages: the controller structure is complex, which is not conducive to engineering implementation, the chattering phenomenon, and the equivalent part is related to the system parameters, requiring prior knowledge of the system parameters

Method used

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  • Enhanced coupling nonlinear pd sliding mode controller and method for bridge crane system
  • Enhanced coupling nonlinear pd sliding mode controller and method for bridge crane system
  • Enhanced coupling nonlinear pd sliding mode controller and method for bridge crane system

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with accompanying drawing.

[0047] 1. Dynamic model of the two-stage pendulum bridge crane system

[0048] Two-stage pendulum bridge crane system such as figure 1 As shown, the dynamic model is:

[0049]

[0050]

[0051]

[0052] Among them, C 1 , S 1 , S 1-2 , C 1-2 represent cosθ respectively 1 , sinθ 1 , sin(θ 1 -θ 2 ), cos(θ 1 -θ 2 ) abbreviation; M, m 1 , m 2 represent the mass of the trolley, the mass of the hook and the mass of the load respectively; x, θ 1 , θ 2 are the displacement of the trolley, the swing angle of the hook and the swing angle of the load; l 1 , l 2 respectively represent the length of the sling and the distance between the center of gravity of the load and the center of gravity of the hook; g is the acceleration of gravity; d, F rx Respectively represent the external disturbance and friction; F is the driving force applied to the trolley.

[0053...

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Abstract

The invention provides a coupling enhancing non-linear PD-type sliding mode controller for a bridge crane system, and a method. The designed controller is composed of a PD control part and an SMC control part. The SMC control part is used for constructing a frame of the controller. Quite high robustness is achieved aiming at an indeterminate model, different and indeterminate system parameters andexternal disturbance of a system. The PD control part is used for stably controlling the system. In addition, a generalized function is introduced, the coupling relation among trolley movement, lifting hook swinging and load swinging is enhanced, and thus the transient control property of the system is improved. By utilizing the Lyapunov theorem and Schur complement, it is proved that the asymptotic stability and convergence of the system can still be ensured through the provided control method even if the model and the system parameters are indeterminate and external disturbance exists. Thesimulation result shows the correctness of the provided control method and the excellent control property.

Description

technical field [0001] The invention belongs to the control field of a two-stage pendulum type bridge crane system, and in particular relates to an enhanced coupling nonlinear PD type sliding mode controller and a method for a bridge crane system. Background technique [0002] In recent years, bridge cranes have been widely used in construction sites, seaports, docks and other important places for lifting and transporting goods. Overhead crane is a typical underactuated system, whose control input dimension is smaller than the degree of freedom to be controlled. Due to the strong coupling between the movement of the trolley and the swing of the load, fast positioning of the trolley and small swings of the load conflict with each other. Therefore, the design of the overhead crane system controller is extremely difficult and very challenging. [0003] The safety and effectiveness of overhead crane systems have received extensive attention, and some useful and constructive re...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C23/18
CPCB66C23/18
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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