A bridge crane anti-swing method, device, equipment and storage medium based on sliding surface

Abstract

A bridge crane anti-swing method, apparatus, and device based on a sliding mode surface, and a storage medium. After a trolley position subsystem controller and a load swing angle subsystem controller are designed layer by layer on the basis of a backstepping control algorithm, the trolley position subsystem controller and the load swing angle subsystem controller are combined to construct a position swing angle global sliding mode surface; a time-varying function is introduced into the design of a sliding mode surface to construct a position swing angle controller; on the basis of a backstepping sliding mode control theory, a rope length controller is designed layer by layer by combining a state space function of a rope length with a Lyapunov function, and thus, the asymptotical stability of a lifting rope subsystem is realized. The present method not only can solve the unmatched uncertainty problem of a system and maximally eliminate a chattering phenomenon existing in a traditional sliding mode control algorithm, but also can improve the robustness of the anti-swing control of a crane system, and make the system have an anti-interference capability, thereby further improving the stability and control performance of a bridge crane system.

Description

technical field [0001] The invention relates to the technical field of bridge cranes, in particular to an anti-swing method, device, equipment and storage medium for bridge cranes based on a sliding surface. Background technique [0002] As a large-scale cargo loading and unloading mechanical device, bridge crane is widely used in the assembly and transportation process of ports, warehouses, heavy industry workshops, construction sites and other places. The main goal of overhead crane system control is to achieve precise crane positioning and eliminate the swing angle of the load as much as possible, so that the goods can be transported to the designated position in the shortest time without swinging. Sliding mode control has good control performance for nonlinear systems and is widely used in the system control of bridge cranes. However, the current mainstream sliding mode control of bridge cranes has the following problems: [0003] The traditional general sliding mode co...

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Problems solved by technology

[0003] The traditional general sliding mode control algorithm cannot deal with the problem of system non-matching uncertainty well, so there will be chattering phenomenon, which in turn will affect the service life of the motor

In addition, when the traditional sliding mode control algorithm greatly changes the system parameters, the anti-swing control effect of the crane will become poor, and the robustness will be poor. When the system is strongly disturbed by the outside, the control algorithm cannot make timely and accurate response, which further weakens the anti-swing effect of the bridge crane

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