A tracking control method and system for a two-stage swing tower crane system

Abstract

The present disclosure provides a tracking control method and system for a two-level swing type tower crane system, which relates to the technical field of tower crane control and obtains the current position and rotation angle of the cantilever and trolley of the two-level swing type tower crane system; and the current position and rotation angle of the trolley and the dynamic equation of the two-stage swing tower crane system to obtain the disturbance effect index of the load and hook; The control model jointly performs the transient control of the boom and the trolley; otherwise, the transient control of the boom and the trolley is performed according to the preset tracking control model; the disclosure ensures accurate tracking control performance of the trolley and the boom, and also ensures fast The suppression and elimination of hook and load swing, and at the same time, according to the introduced disturbance effect index, it is judged whether the designed robust tracking control method eliminates or retains the disturbance, which effectively improves the transient control performance of the 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...

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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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