System passivity based underactuation bridge crane anti-interference anti-swing method

Abstract

The invention provides a system passivity based underactuation bridge crane anti-interference anti-swing method and belongs to the technical field of bridge crane anti-swing. The system passivity based underactuation bridge crane anti-interference anti-swing method comprises the following steps of S1, establishing a dynamical model of a bridge crane system; S2, establishing a friction force modeland a wind resistance model based on the dynamical model; and S3, constructing a controller based on the lyapunov function and used for overcoming system friction force and resistance according to thefriction force model and the wind resistance model. Through the system passivity based underactuation bridge crane anti-interference anti-swing method, the friction force and resistance in the systemcan be overcome, quick positioning of the crane system is realized, and swing of the system is effectively inhibited; moreover, the system is high in anti-interference capability and has high robustness. As anti-swing positioning of a trolley is realized well, the transient state control performance of the system is effectively improved.

Description

technical field [0001] The invention belongs to the technical field of swing prevention for bridge cranes, and relates to an anti-jamming and swing prevention method for underactuated bridge cranes based on system passivity. Background technique [0002] Among all kinds of cranes, the bridge crane is the most widely used. As with other cranes, the main goal of overhead crane control is the fast and accurate delivery of loads in the shortest possible time. As an underactuated system, the bridge crane has simple algorithm design, fewer controllers and lower cost. However, with the movement of the trolley, the crane will have instability problems due to the swing phenomenon of the load. The relationship between trolley and load swing is non-linear and highly coupled. In addition, the load swing caused by external disturbances (such as wind, etc.) will not only reduce the overall efficiency, affect the precise placement of the load during the lifting process, but may also cau...

AI Technical Summary

Problems solved by technology

However, the effect of these operations is not ideal, and the following shortcomings are reflected: 1) The positioning accuracy is poor, and the trolley needs to be adjusted repeatedly before reaching the target position; 2) The operation efficiency is low, and the effect of eliminating the swing is poor; Operators have high requirements and need long-term skill training and continuous experience accumulation; 4) Long-term continuous work is easy to cause fatigue, resulting in misoperation and frequent casualties; 5) In special applications, such as nuclear material transportation, etc., Cannot be operated manually

The overhead crane system is a typical underactuated system, most of the existing control methods only consider the single-stage swing characteristics of the crane system, but in many cases: 1) When the hook mass is similar to the load mass and cannot be ignored ;2) When the distribution of load mass is uneven and the size is too large to be regarded as a mass point, the crane system will show double pendulum characteristics

When the double pendulum characteristic occurs, the load will swing around the hook, resulting in a more complex dynamic model of the crane system, higher coupling between states, and a higher degree of underactuation. great challenge

Images