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Novel anti-swing and positioning control method and device for bridge crane

A bridge crane, positioning control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of large overshoot, weak anti-interference, large maximum load swing angle, etc.

Inactive Publication Date: 2018-11-16
TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the control effects of these control methods still have some shortcomings to varying degrees, such as: the maximum swing angle of the load during operation is large, the overshoot is large, and the anti-interference is not strong.

Method used

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  • Novel anti-swing and positioning control method and device for bridge crane
  • Novel anti-swing and positioning control method and device for bridge crane
  • Novel anti-swing and positioning control method and device for bridge crane

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Embodiment Construction

[0042] The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings. Wherein, similar elements in different implementations adopt associated similar element numbers. In the following implementation manners, many details are described for better understanding of the present application. However, those skilled in the art can readily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the application are not shown or described in the description, this is to avoid the core part of the application being overwhelmed by too many descriptions, and for those skilled in the art, it is necessary to describe these operations in detail Relevant operations are not necessary, and they can fully understand the relevant operations according to the description in the specification and genera...

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Abstract

The invention discloses a novel anti-swing and positioning control method for a bridge crane, and the method comprises the steps: building a T-S nonlinear fuzzy model; designing a fuzzy controller through a parallel distributed compensation (PDC) control structure according to the T-S nonlinear fuzzy model, and obtaining a PDC control law u(t); and calculating a feedback gain matrix Fi through anLMI with the attenuation rate. The controller can guarantee the closed-loop asymptotic stability of the system, and the positioning, anti-swing and anti-interference performances are better. When a trolley moves, the maximum swinging angle of a load is smaller, and the effective load swinging is well inhibited. After the trolley arrives at a target position, the swinging angle quickly disappears,and the anti-interference performance does not change with the change of an expected position and the mass of the load, so the robustness is better.

Description

technical field [0001] The invention relates to the technical field of cranes, in particular to a novel anti-swing and positioning control method and device for bridge cranes. Background technique [0002] Bridge crane is an important tool and equipment to realize the mechanization and automation of production process in modern industrial production and lifting transportation. It is widely used in indoor and outdoor warehouses, workshops, port terminals, open-air storage and other places. The positioning and anti-sway control goal of the bridge crane is to drive the trolley, transport the load to the desired point quickly, accurately and safely, and minimize or eliminate the load swing angle during the transportation and the residual swing of the load after the trolley stops moving angle, so as to avoid the collision between the crane and the surrounding objects, causing huge economic losses. [0003] There are many kinds of control strategies for the positioning and anti-s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04B66C13/06B66C13/22
CPCG05B13/042B66C13/063B66C13/22
Inventor 邵雪卷张井岗陈志梅赵志诚王贞艳文新宇
Owner TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
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