Underactuation crane operating whole process active-disturbance-rejection control method of single parameter adjustment

Abstract

The invention discloses an underactuation crane operating whole process active-disturbance-rejection control method of single parameter adjustment. The underactuation crane operation whole process active-disturbance-rejection control method is characterized in that according to starting and target locations of a trolley, safety constraint conditions such as the speed, acceleration, and operating environment of the trolley are considered, an ideal operating track, with efficiency priority, of the trolley is generated, and after compared with the actual location of the trolley, an error feedbackcontrol law of trolley movement is constructed; an expanding state observer is designed according to a crane load oscillation state equation, an error feedback control law suppressing load oscillation is constructed, and then the trolley operating track and a load oscillation active-disturbance-rejection controller which are independent of system model parameters and can effectively suppress disturbance are formed; and Hurwitz stable matrix eigenvalues are used for generating relation with control system gains, thus fussy control system parameters are adjusted and converted to single parameter adjustment easy to implement, a crane can be operated according to the set ideal track in the whole process under the uncertainty model parameters and external disturbance, and swing angles are madeas small as possible.

Description

technical field [0001] The invention relates to a single-parameter-adjusted active disturbance rejection control method for the whole process of underactuated crane operation, belonging to the field of automatic control of construction machinery. Background technique [0002] In ports, power stations, subways, road and bridge construction, workshops of various industries, etc., cranes are widely used to carry heavy objects. The main control requirement is to move the goods to the target location safely, quickly and accurately. However, in the process of cargo handling, swings are prone to occur. If the residual swing is too large after reaching the target point, the swing attenuation process will take too long, the work efficiency will be low, and it will bring difficulties to the driver's lifting operation, and may even A collision with surrounding people or objects may cause a safety accident. Experienced drivers on site can control the movement of the truck to suppress t...

AI Technical Summary

Problems solved by technology

However, most of these methods have one or more of the following defects: ①The working starting point of the trolley defaults to zero, and the value of the target point is the initial error. When the target point is far from the initial point, the initial control amount will be large, resulting in load The initial swing is too large; ② It is difficult to consider uncertain factors such as the length of the sling, load quality, friction coefficient, initial conditions, and the impact of external interference on the trolley positioning and load swing control; ③ Full state feedback is required, but the load swing Angular velocity is difficult to measure directly, and installing a speed sensor will increase the cost and complicate the system structure; ④ Different reference trajectories need to be set in advance for different tower cranes, and the reference trajectories are required to meet some harsh constraints, which is difficult to popularize and apply; ⑤Parameter tuning It is difficult to determine the feasible control parameters after a lot of debugging by professionals; ⑥ It is necessary to add complex nonlinear coupling items in the control law to improve the transient control performance, which makes the controller design complicated

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