A method for positioning and eliminating swing of an underactuated tower crane with load lifting motion

A technology of tower crane and lifting movement, applied in the direction of transportation and packaging, load hanging components, safety devices, etc., can solve the problems of external disturbance, natural frequency and other dynamic characteristics, parameter uncertainty and other problems, and achieve stable convergence speed Improvement, fast and efficient trajectory tracking and positioning, load swing suppression, and enhanced robustness

Active Publication Date: 2022-02-22
NANJING TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

A tower crane is a kind of crane that transports goods in space. Its transportation process is often accompanied by the translation of the trolley and the rotation of the cantilever at the same time. These two driving mechanisms with different motion properties lead to dynamic models and design corresponding control methods. more complicated
At the same time, when accompanied by the lifting motion of the load, the length of the suspension rope will change, which will have a great impact on the dynamic characteristics such as the natural frequency of the load swing of the tower crane
In addition, in actual control applications, it is inevitable that there will be friction effects, incomplete theoretical modeling, parameter uncertainty and external disturbances with full degrees of freedom. Accurate positioning of the lift while quickly suppressing the swing of the load has become a very challenging problem

Method used

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  • A method for positioning and eliminating swing of an underactuated tower crane with load lifting motion
  • A method for positioning and eliminating swing of an underactuated tower crane with load lifting motion
  • A method for positioning and eliminating swing of an underactuated tower crane with load lifting motion

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Experimental program
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Effect test

Embodiment 1

[0062] Traditional underactuated crane positioning and anti-swing control is usually aimed at the bridge crane system. Even if the multi-degree-of-freedom bridge crane moves in three-dimensional space, the dynamic nature of its drive mechanism is still a linear force, and the dynamic characteristics are still simple and easy to control. , but when there are different driving forces in the crane transportation task, such as the control of the tower crane studied in the present invention, one direction is the translational force of the trolley, and the other direction is the torque of the boom; at this time, due to the centrifugal motion The participation of the system makes the dynamic characteristics of the system very complicated. At the same time, when the load is lifted and lowered, the natural frequency of the load swing of the crane system will change. At this time, it is inevitable that the previous design for the ordinary simple pendulum will appear. Controller failure; ...

Embodiment 2

[0133] refer to Figure 3-4 , is the second embodiment of the present invention. In order to better verify and illustrate the technical effects adopted in the method of the present invention, the traditional controller LQR is selected for testing in this embodiment, and the test results are compared with scientific demonstration methods to verify The real effect of this method.

[0134] In order to conduct experiments better, in the simulation environment in MATLAB / Simulink to verify the situation when the device has friction and full-degree-of-freedom integrated interference, the controller LQR and the controller using this control method are selected for experiments, and the controller LQR uses The control method is:

[0135]

[0136]

[0137]

[0138] For the controller of this method, the parameters are selected as:

[0139] k 1 =0.19,k 2 =0.21,k 3 =5.5,k 4 =7.8,k 5 =7.8,

[0140] mu i =280,γ i =80,i=1,...,5

[0141]

[0142]

[0143]

[0144] ...

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Abstract

The invention discloses a method for positioning and eliminating swing of an underactuated tower crane with a load lifting motion, which includes establishing a nonlinear model of a tower crane with a load lifting motion according to the Lagrangian dynamic equation; based on the nonlinear model Construct a sliding mode surface with adaptive gain, and determine the sliding mode surface approach law and adaptive value update law; use adaptive technology to confirm the crane friction parameter adaptive update law and full-degree-of-freedom disturbance adaptive update law; Combining the sliding mode surface approach law with the adaptive value update law, the friction parameter adaptive update law and the full-degree-of-freedom disturbance adaptive update law, a robust adaptive sliding mode controller is constructed to complete positioning and swing elimination. The stable convergence speed of the tower crane system with load lifting motion is improved, and the robustness of the control system is enhanced by using adaptive technology at the same time, finally realizing fast and efficient trajectory tracking and positioning and load swing suppression.

Description

technical field [0001] The invention relates to the technical field of motion control of an underactuated crane system, in particular to a method for positioning and eliminating swing of an underactuated tower crane with load lifting motion. Background technique [0002] An underactuated system is one in which the system inputs have fewer system degrees of freedom. Among them, the crane system, as a typical underactuated system, has many advantages such as simple structure, low power consumption, and wide application occasions. A tower crane is a kind of crane that transports goods in space. Its transportation process is often accompanied by the translation of the trolley and the rotation of the cantilever at the same time. These two drive mechanisms with different motion properties lead to dynamic models and design corresponding control methods. more complicated. At the same time, when accompanied by the lifting motion of the load, the length of the suspension rope will c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C13/00B66C15/00
CPCB66C13/00B66C15/00
Inventor 于莉莉田正欧阳慧珉
Owner NANJING TECH UNIV
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