Global sliding-mode control method for bridge crane system

A technology of bridge crane and control method, which is applied in the direction of load hanging components, transportation and packaging, etc., and can solve the problems of not being robust in the whole process

Active Publication Date: 2019-09-06
ZHEJIANG SCI-TECH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Generally speaking, the system state of sliding mode control is divided into approaching mode and sliding mode. When the system state is in sliding mode, the system has good robustness to uncertain parameters and external disturbances [11], but This characteristic does not exist in the approach mode, that is, it does not have full-range robustness

Method used

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  • Global sliding-mode control method for bridge crane system
  • Global sliding-mode control method for bridge crane system
  • Global sliding-mode control method for bridge crane system

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Embodiment 1

[0117] Embodiment 1, the global sliding mode control method of overhead crane system, comprises the following steps:

[0118] Step 1, determine the kinetic model;

[0119] The present invention contemplates an overhead crane system comprising a trolley capable of one-dimensional translational movement along the bridge frame and a load attached to the trolley by a fixed length of rope. Based on the Euler-Lagrangian equation, the dynamic equation of the overhead crane system is as follows:

[0120]

[0121]

[0122] Among them, M and m are the masses of the trolley and the load respectively, the length of the fixed sling is l, g represents the acceleration of gravity; x represents the horizontal displacement of the trolley from the initial position, represents the speed of the trolley, Indicates the acceleration of the trolley; θ indicates the load swing angle, Indicates the angular velocity of the load swing angle, Indicates the angular acceleration of the load sw...

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Abstract

The invention provides a global sliding-mode control method for a bridge crane system. The method comprises the following steps: determining a kinetic model; determining a control target; designing adamping signal and transforming a kinetic equation; designing a control rule; and implementing the control method. According to the control method, the bridge crane system has good robustness in the whole operating process while positioning control and anti-sway control of a trolley of the bridge crane system are implemented, so that the control efficiency of the bridge crane is improved, and theprobability of safety problems of the bridge crane system in actual operation caused by external disturbance and uncertain parameters. The global sliding-mode control method has good application prospect and economical benefit.

Description

technical field [0001] The invention belongs to the control technology of an underactuated system, and mainly relates to a global sliding mode control method of an overhead crane system. Background technique [0002] As an important means of transportation, the bridge crane system is widely used in various industrial occasions. The main purpose of its control is to use the trolley to send the load to the target position as quickly and accurately as possible, that is, the positioning control of the trolley, and Effectively control the load swing angle during transportation, so that the load swing angle is zero when the trolley reaches the target position, that is, swing-elimination control. However, due to the underactuated characteristics of the bridge crane system, the control input directly acts on the trolley to control the displacement of the trolley, while the load swing angle is indirectly controlled by the movement of the trolley, which increases the difficulty of con...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/22
CPCB66C13/22
Inventor 武宪青徐可心马淼柯飂挺
Owner ZHEJIANG SCI-TECH UNIV
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