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Layered rapid terminal sliding mode control method for double-pendulum system of crane

A technology of terminal sliding mode and control method, which is applied in the direction of load hanging components, transportation and packaging, etc., can solve the problems such as the difficulty in anti-sway control of the double pendulum system of cranes, and achieve the effects of wide application range, convenient application, and easy industrial application

Active Publication Date: 2021-08-31
WUHAN UNIV OF TECH
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Problems solved by technology

At the same time, the anti-sway control of the crane's double pendulum system will become more difficult when considering the variation of the lifting height of the distributed mass load

Method used

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  • Layered rapid terminal sliding mode control method for double-pendulum system of crane
  • Layered rapid terminal sliding mode control method for double-pendulum system of crane
  • Layered rapid terminal sliding mode control method for double-pendulum system of crane

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Embodiment Construction

[0019] The present invention will be further described below in conjunction with accompanying drawing:

[0020] Based on the Lagrange dynamics analysis method, the invention establishes the state equation of the double pendulum system of the distributed mass load crane. Consider velocity control as input to construct fast terminal sliding surfaces for the trolley, hook, distributed mass load, and hoist subsystems. Using the equivalent sliding mode control method, the control models of the trolley and the hoisting mechanism composed of equivalent control and switching control are respectively obtained. At the same time, the sign function in the control model is replaced by a saturated function to avoid high-frequency oscillation. And the stability of the designed system is proved by Lyapunov method. The crane anti-sway control system can realize the anti-sway control when the trolley or cart and the hoisting mechanism are running at the same time, which can significantly impr...

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Abstract

The invention provides a layered rapid terminal sliding mode control method for a double-pendulum system of a crane. The method comprises the following steps of Step 1, based on distributed mass load crane double-pendulum system dynamics analysis, establishing a crane double-pendulum system state equation; Step 2, taking speed control as input, and respectively constructing rapid terminal sliding mode surfaces of a trolley or a cart, a lifting hook, a distributed mass load and a hoisting mechanism; and Step 3, respectively obtaining a trolley or cart and hoisting mechanism control model formed by equivalent control and switching control by using an equivalent sliding mode control method. The method is designed based on speed control; the industrial application is easy; the working efficiency of the crane can be obviously improved; the method is applicable to anti-swing control of the double-pendulum system of the crane under the condition of manual operation of the crane; meanwhile, the method is also applicable to anti-swing control of the double-pendulum system of the crane under the condition of automatic control by setting the running speed track; and the characteristics of wide application range, convenient application and the like are achieved.

Description

technical field [0001] The invention belongs to the field of cranes, and in particular relates to a method for controlling a layered fast terminal sliding mode of a double pendulum system of a crane. Background technique [0002] As an important logistics transportation tool, bridge cranes are widely used in important industrial places such as workshop warehouses, metallurgical manufacturing, garbage disposal, production and assembly workshops, etc. The structure of the bridge crane can be divided into three parts: the cart, the trolley and the lifting mechanism. The lifting mechanism realizes the hoisting of the load through the flexible steel wire rope, and realizes the transportation of the load through the translation of the cart and trolley. Clearly, the crane is an underactuated system because the actuation degrees of freedom are less than the system degrees of freedom. Therefore, during the load transportation process, changes in the speed of both the cart and the t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/06B66C13/16B66C13/46B66C13/48
CPCB66C13/06B66C13/16B66C13/46B66C13/48Y02T90/00
Inventor 汪小凯吴庆祥夏明辉华林
Owner WUHAN UNIV OF TECH
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