Under-actuated double-swing tower crane trajectory tracking and swing suppression control method

A technology of tower crane and track tracking, which is applied in the direction of load block, load hanging components, transportation and packaging, etc., and can solve problems such as complex dynamic model of the system

Active Publication Date: 2021-06-04
NANJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In this case, the dynamic model of the system will be more complicated. While realizing the accurate positioning of the boom and the trolley, quickly suppressing the swing of the hook and the load has become a very challenging problem.

Method used

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  • Under-actuated double-swing tower crane trajectory tracking and swing suppression control method
  • Under-actuated double-swing tower crane trajectory tracking and swing suppression control method
  • Under-actuated double-swing tower crane trajectory tracking and swing suppression control method

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Effect test

Embodiment 1

[0053] The previous underactuated crane positioning and anti-sway 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. The control Convenient, 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 translation force of the trolley, and the other direction is the torque of the cantilever; at this time, due to the centrifugal The participation of motion makes the dynamic characteristics of the system very complicated. At the same time, when the mass of the load and the hook are similar, or the suspension rope and the length of the suspension rope are similar, the double pendulum characteristics of the crane system are more obvious. At this time, it is inevitable to appe...

Embodiment 2

[0102] refer to Figure 3-5 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment. In order to better verify the technical effect adopted in the method of the present invention, the traditional controller LQR is selected in this embodiment to carry out Test, compare the test results with the means of scientific demonstration, to verify the real effect of this method.

[0103] refer to Figure 5 , in order to conduct experiments, this embodiment builds an experimental platform, which is composed of PC, control board, servo motor driver, trolley, cantilever, and swing angle measurement mechanism. Generate the code of the control board (Googol-tech motion control board (GT-400-SV-PCI)) with a sampling period of 0.005s, and then monitor and record the experimental data on the control board in real time through serial communication, which can drive the position of the part The signal comes from the counting of the encode...

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Abstract

The invention discloses an under-actuated double-swing tower crane trajectory tracking and swing suppression control method. The under-actuated double-swing tower crane trajectory tracking and swing suppression control method comprises the following steps that a tower crane simplified model is established based on a Lagrangian kinetic equation and state characteristics of a double-swing tower crane system near a balance point; in the simplified model, a signal of a drivable part and a partial coupling enhancement item signal are combined to form a pseudo control signal; and in combination with the pseudo control signal, a friction force model is constructed, and positioning anti-swing control is realized in a trajectory tracking mode. According to the under-actuated double-swing tower crane trajectory tracking and swing suppression control method, the coupling between a driving mechanism and a non-driving mechanism of ta double-swing tower crane can be partially enhanced, an additional damping item is added to improve the swing elimination transient characteristic, meanwhile, the friction influence is overcome through a feedforward model, and finally efficient trajectory tracking and swing suppression can be achieved.

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 trajectory tracking and swing suppression of an underactuated double pendulum tower crane based on partial coupling enhancement. 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 the mass of the load and the hook are similar, or ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/06B66C11/00
CPCB66C13/06B66C11/00
Inventor 于莉莉田正欧阳慧珉
Owner NANJING UNIV OF TECH
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