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Beneficial-disturbance-based sliding mode control method for four-degree-of-freedom tower crane system

A control method and a technology with a degree of freedom, applied in the direction of comprehensive factory control, load suspension components, transportation and packaging, etc., can solve problems such as poor transient control performance, system instability, and affecting system control performance, and achieve good control performance , strong robustness, and the effect of improving transient control performance

Active Publication Date: 2021-06-22
UNIV OF JINAN +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the state variables of the system cannot be close enough to the equilibrium point, the model after linearization is very different from the original crane model, which may seriously affect the control performance of the system and even lead to the instability of the system
In addition, all the above-mentioned robust control methods completely ignore the good effects of disturbances, completely regard disturbances as harmful factors, and thus eliminate them directly, and do not make full use of beneficial disturbances, resulting in poor transient control performance. Difference

Method used

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  • Beneficial-disturbance-based sliding mode control method for four-degree-of-freedom tower crane system
  • Beneficial-disturbance-based sliding mode control method for four-degree-of-freedom tower crane system
  • Beneficial-disturbance-based sliding mode control method for four-degree-of-freedom tower crane system

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Experimental program
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Effect test

Embodiment 1

[0035] Embodiment 1 of the present disclosure takes into account the uncertainty / unknownness of the disturbance, and uses a nonlinear disturbance observer to observe it accurately; then, according to the estimated disturbance information, constructs a disturbance effect index to distinguish beneficial disturbances from harmful disturbances; finally, The disturbance effect index and the estimated disturbance information are introduced into the controller design, and a sliding mode control method based on beneficial disturbance is proposed, including the following contents:

[0036] S1: Error model of DOF tower crane system

[0037] In this embodiment, the problem of precise positioning and fast anti-swing control of the four-degree-of-freedom tower crane system with disturbance will be considered. According to figure 1 , the dynamic model of the constructed four-degree-of-freedom tower crane system is as follows:

[0038]

[0039]

[0040]

[0041]

[0042] Among t...

Embodiment 2

[0266] Embodiment 2 of the present disclosure provides a sliding mode control system for a four-degree-of-freedom tower crane system based on beneficial disturbances, including:

[0267] The data acquisition module is configured to: acquire parameter data and operating status data of the four-degree-of-freedom tower crane system;

[0268] The disturbance judging module is configured to: use a preset nonlinear disturbance observer to perform disturbance estimation according to the acquired data, and judge beneficial disturbance and harmful disturbance according to a preset disturbance effect index;

[0269] The sliding film control module is configured to: add beneficial disturbances to the preset sliding mode controller, remove harmful disturbances, drive the rotation angle of the cantilever and the displacement of the trolley to reach the desired angle and target position respectively, and make the load swing as Zero or within a preset range.

[0270] The working method of t...

Embodiment 3

[0272] Embodiment 3 of the present disclosure provides a medium on which a program is stored, and when the program is executed by a processor, the sliding mode control method for a four-degree-of-freedom tower crane system based on beneficial disturbances as described in Embodiment 1 of the present disclosure is implemented. in the steps.

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Abstract

The invention provides a beneficial-disturbance-based sliding mode control method for a four-degree-of-freedom tower crane system. The method comprises the following steps of acquiring parameter data and running state data of the four-degree-of-freedom tower crane system; performing disturbance estimation by using a preset nonlinear disturbance observer according to the acquired data, and judging beneficial disturbance and harmful disturbance according to a preset disturbance effect index; and adding the beneficial disturbance to a preset sliding mode controller, removing the harmful disturbance, driving the rotation angle of a cantilever and displacement of a trolley to reach an expected angle and a target position respectively, and enabling load swing to be zero or within a preset range. According to the method, the disturbance effect index is introduced to distinguish whether the disturbance is beneficial or harmful, so that good disturbance information is fully utilized, and the transient control performance of the system is remarkably improved.

Description

technical field [0001] The disclosure relates to the technical field of transient control of a four-degree-of-freedom tower crane system, in particular to a sliding mode control method for a four-degree-of-freedom tower crane system based on beneficial disturbances. 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] The crane system is a typical underactuated system, and the number of independent control inputs is less than the degrees of freedom to be controlled. Tower crane is the most widely used cargo transportation tool in construction sites, which has the advantages of simple structure, convenient installation, low cost, large payload and low energy consumption. However, due to the inevitable external disturbance, parameter uncertainty, strong coupling, strong nonlinearity, and strong underactuation characteristics of the tower crane...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/48
CPCB66C13/48Y02P90/02
Inventor 张梦华景兴建
Owner UNIV OF JINAN
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