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Bridge crane anti-swing control method based on two-type fuzzy sliding mode

A type II fuzzy, bridge crane technology, applied in the bridge crane anti-swing control, the bridge crane anti-sway control field based on the second type fuzzy sliding mode control theory, can solve the problem of the bridge crane chattering and the like

Inactive Publication Date: 2018-09-28
NANJING UNIV OF POSTS & TELECOMM
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, due to the switching characteristics of the sliding mode control theory, it is very easy to cause the chattering problem of the overhead crane at the switching point

Method used

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  • Bridge crane anti-swing control method based on two-type fuzzy sliding mode
  • Bridge crane anti-swing control method based on two-type fuzzy sliding mode
  • Bridge crane anti-swing control method based on two-type fuzzy sliding mode

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Embodiment Construction

[0046] This embodiment provides an anti-sway control method for bridge cranes based on Type II fuzzy sliding mode control theory. According to the model of bridge cranes,

[0047] Among them, M, m, l respectively represent the weight of the trolley, the load weight and the length of the sling, x 1 , x 2 , x 3 and x 4 They are the displacement of the trolley, the speed of the trolley, the swing angle of the load and the angular velocity of the load. According to the bridge crane model, the weight of the trolley is 22kg, the rope length is 1m, and the load weights are 3kg and 9kg respectively.

[0048] Specific steps are as follows:

[0049] Step 1. According to the aforementioned bridge crane model, construct the sliding mode function of the trolley position, the sliding mode function of the load swing angle and the comprehensive sliding mode function of the bridge crane respectively.

[0050] (1) Sliding mode function of trolley position: s 1 (x 1 ,x 2 ) = c 1 x 1 ...

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Abstract

The invention relates to a bridge crane anti-swing control method based on a two-type fuzzy sliding mode. The two-type fuzzy control theory is utilized in combination with the sliding mode variable structure control method, and a two-type fuzzy sliding mode controller is constructed; a sliding mode function is constructed according to a bridge crane model, a two-type fuzzy sliding mode function and a fuzzy rule database are established through utilizing the two-type fuzzy control theory, moreover, for a controller parameter configuration problem, the fuzzy adaptive DE algorithm is utilized tooptimize the controller. The method is advantaged in that a fuzzy adaptive scaling factor is introduced, global search performance of the algorithm is enhanced through introducing adaptive parameters,the algorithm is utilized to optimize the controller parameters, and lastly, the good anti-swing control effect is obtained.

Description

technical field [0001] The invention relates to an anti-swing control method of an overhead crane, in particular to an anti-swing control method for an overhead crane based on Type II fuzzy sliding mode control theory, and belongs to the technical field of underactuated crane data modeling. Background technique [0002] Bridge crane is a kind of assembly equipment with the advantages of strong load capacity, flexible operation, and less investment in land occupation. It is widely used in the assembly and transportation process of ports, warehouses, heavy industry workshops, construction sites and other places. However, the bridge crane system is a kind of complex nonlinear underactuated system, which is often affected by various disturbance factors in reality, mainly including the friction force between the trolley and the guide rail, air resistance, etc. Designing an effective anti-swing system is of great significance to the safe and efficient operation of overhead cranes....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙哲毕云蕊孙知信曲鸿博陈雅茜
Owner NANJING UNIV OF POSTS & TELECOMM
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