Hoist controller generation method, control method and controller generation system for bridge crane

A bridge crane and winch system technology, applied in the direction of load hanging components, cranes, transportation and packaging, etc., can solve the problem of high control effect, limited application range of estimation methods, wide application of control schemes, and inability to guarantee the trajectory of observed variables, etc. problems, to achieve the effect of realizing tracking control, improving motion efficiency, and improving transportation efficiency

Active Publication Date: 2021-06-22
BEIJING UNIV OF CHEM TECH
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Problems solved by technology

But from another point of view, the series structure of the integrator limits the application range of the estimation method and the wide application of the control scheme.
At the same time, in the process of observer design, this method only implements feedback design for observation errors, and cannot guarantee the trajectory of each observed variable. The controller designed based on this type of observer still cannot guarantee the position of the hoisting system of the bridge crane. Tracking control effect and high efficiency of bridge crane transportation

Method used

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  • Hoist controller generation method, control method and controller generation system for bridge crane
  • Hoist controller generation method, control method and controller generation system for bridge crane
  • Hoist controller generation method, control method and controller generation system for bridge crane

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Experimental program
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Effect test

Embodiment approach

[0105] As an implementation of estimation model acquisition, specific methods include:

[0106] performing system extension on the control model to be observed to obtain a system extension matrix; defining a system observer based on the system extension matrix;

[0107] Define a full-state virtual controller according to the system observer, based on the defined performance index J v Obtaining the quadratic optimal feedback rate k, combining the quadratic optimal feedback rate k and the virtual controller to obtain an optimal feedback full state observer; and,

[0108] Based on the optimal feedback full state observer, an estimation model containing f(t) and suitable for control design is obtained

[0109] Among them, the specific method of system expansion is uncertain, and the obtained system expansion matrix is ​​the theoretical equivalent representation of the control model to be observed, which can be used as a structural reference and error proof for the system observ...

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Abstract

The invention relates to a method for generating a hoist controller of a bridge crane, a control method and a controller generation system, and relates to the technical field of hoist control for a bridge crane. The dynamic analysis of the control system is carried out, and the unobserved control model under the dynamic structure of the hoisting system is established; the estimation model of the optimal feedback full-state observer is obtained based on the measured variable rope pendulum length; the model conversion is performed based on the unobserved control model, combined with the estimated Model and model conversion to obtain the actual controller; and use the actual controller to obtain the hoisting method of the bridge crane control, and further, use the above controller generation method to obtain the control model acquisition module to be observed, the estimated model acquisition module and the actual controller generation module to create a control system. Compared with the prior art, it has the effect of improving the transport efficiency of the bridge crane.

Description

technical field [0001] The invention relates to the technical field of bridge crane control, in particular to a method for generating a hoist controller of an bridge crane, a control method and a controller generation system. Background technique [0002] Overhead crane is a typical non-linear mechanical system. It uses long ropes to connect the load with the crane, and transports the load to the designated location through the movement of the crane. Overhead cranes are widely used in ports, warehouses, construction sites and other places. Wide range of applications. In recent decades, how to achieve precise and fully automatic control of overhead cranes to improve transport efficiency, positioning accuracy and safety factor has become a hot research issue in the current industrial field. [0003] Most of the traditional overhead crane control methods rely on the specific mathematical model of the crane system. However, during the working process of the overhead crane, due...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C13/18B66C13/48B66C13/16
CPCB66C13/16B66C13/18B66C13/48B66C2700/08
Inventor 黄静雯陶浩康博涵孙建桥
Owner BEIJING UNIV OF CHEM TECH
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