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Swing suppression control method for double-pendulum tower crane with distributed mass load

A tower crane, distributed mass technology, applied in the direction of load hanging components, transportation and packaging, etc., can solve problems such as complex dynamic model of the system

Pending Publication Date: 2021-09-07
NANJING UNIV OF TECH
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  • Application Information

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Problems solved by technology

Compared with the simple mass point double pendulum system, due to the rotation of the load itself during the swing process of the distributed mass load, the system dynamic model will be more complicated. While realizing the accurate positioning of the cantilever and the trolley, the hook can be quickly restrained , the swing of the load becomes a very challenging problem

Method used

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  • Swing suppression control method for double-pendulum tower crane with distributed mass load
  • Swing suppression control method for double-pendulum tower crane with distributed mass load
  • Swing suppression control method for double-pendulum tower crane with distributed mass load

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Embodiment 1

[0058] In the past, underactuated crane positioning and anti-sway control was mostly aimed at the bridge crane system. Even for a multi-degree-of-freedom bridge crane moving 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 is 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 translational force of the trolley, and the other direction is the rotational force of the cantilever; at this time, Due to the participation of centrifugal motion, the dynamic characteristics of the system become 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. In addition, due to the ...

Embodiment 2

[0191] refer to Figure 5-7 , 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.

[0192] refer to Figure 7, 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. On the host computer, compile and generate code through MATLAB / Simulink Then through the control board (DSP), with a sampling period of 0.005s, and then through the serial port communication to monitor and record the experimental data on the control board in real time, the position signal of the drive part comes from the counti...

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Abstract

The invention discloses a swing suppression control method for a double-pendulum tower crane with a distributed mass load. The method comprises the following steps of establishing a mathematical model of the double-pendulum tower crane with the distributed mass load based on a Lagrange kinetic equation and analyzing characteristics; establishing an energy function of the mathematical model of the double-pendulum tower crane according to the characteristics, and establishing an adaptive controller based on the energy function of the mathematical model of the double-pendulum tower crane to suppress external interference; and establishing a fuzzy controller based on a fuzzy control rule, adding the fuzzy controller into the adaptive controller, and regulating and controlling the swing suppression of the double-pendulum tower crane in real time through the fuzzy controller. According to the method, the coupling between the driving mechanism and the non-driving mechanism of the double-pendulum tower crane can be partially enhanced, the fuzzy controller module is provided to improve the real-time operation capability, the external disturbance is effectively inhibited by designing the adaptive controller, and the two are combined to realize efficient trajectory tracking and swing suppression so as to achieve a control effect.

Description

technical field [0001] The invention relates to the technical field of motion control of an underactuated crane system, in particular to a swing suppression control method for a double pendulum tower crane with distributed mass loads. Background technique [0002] An underactuated system is one in which the system inputs have fewer system degrees of freedom. Among them, the crane system is a typical underactuated system, that is, the cantilever rotational force and trolley running force are its input, and the angle of the load and hook is its non-direct controllable force. And it has many advantages such as simple structure, low power consumption, few actuators, 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 simultaneous translation of the trolley and the rotation of the cantilever. There is a high degree of coupling between the two types of motion, which leads to dynami...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/06B66C13/46B66C13/48
CPCB66C13/063B66C13/46B66C13/48
Inventor 欧阳慧珉孙政
Owner NANJING UNIV OF TECH
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