Two-stage swing type tower crane system tracking control method and system

Abstract

The invention provides a tracking control method and system for a two-stage swing type tower crane system, relates to the technical field of tower crane control, and aims to obtain the current positions and rotation angles of a cantilever and a trolley of the two-stage swing type tower crane system. The method is characterized in that disturbance effect indexes of a load and a lifting hook are obtained according to the current positions and rotation angles of a cantilever and a trolley and a power equation of a two-stage swing type tower crane system; when the disturbance effect index is larger than a preset threshold value, transient control over the cantilever and the trolley is conducted jointly according to the disturbance quantity estimated value and a preset tracking control model; otherwise, transient control over the cantilever and the trolley is conducted according to a preset tracking control model. The method is advantaged in that the method guarantees precise tracking control performance of the trolley and the cantilever, guarantees quick inhibition and elimination of a swing of the lifting hook and the load, judges whether the designed robust tracking control method eliminates or reserves disturbance or not according to the introduced interference effect index, and effectively improves transient control performance of a system.

Description

technical field [0001] The present disclosure relates to the technical field of tower crane control, in particular to a tracking control method and system for a two-stage swing type tower crane system. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] Cranes have been studied for a long time for transporting construction materials as well as goods. Due to the inherent highly underactuated, nonlinear characteristics, strong coupling and unavoidable disturbance effects of the crane system, the design of its controller is still an open and challenging subject. The parameters of a crane system (mass of hook and load, coefficients related to friction, rope length, etc.) are often difficult to measure precisely. In addition to this, the presence of unavoidable external disturbances (such as wind) can seriously affect the stability of the crane...

AI Technical Summary

Problems solved by technology

In this case, the load will swing around the hook, resulting in a second-order swing effect. Compared with the single pendulum model, the second-order pendulum model is closer to the actual situation; some researchers have simplified the dynamics of the tower crane system model, introducing an input shaping method to suppress the residual swing of the load and hook, but this method is very sensitive to disturbances and cannot control the secondary swing tower crane system more accurately; (2) the existing crane The measures taken by the robust control method for the disturbance are directly eliminated, because they all regard the disturbance as a negative component, however, the disturbance has both "good" and "bad" effects on the tower crane system, and directly affects the disturbance Elimination of all is not conducive to the transient control of the two-stage swing type tower crane system

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