Anti-swing control method and system for three-dimensional double-swing bridge crane

Abstract

The invention belongs to the technical field of anti-swing of bridge cranes, and discloses an anti-swing control method and system for a three-dimensional double-swing bridge crane. The method comprises the steps: building a three-dimensional double-swing bridge crane dynamic model according to a Lagrange equation; designing a state observer; establishing a differential tracker; and designing a sliding mode controller. According to the method, corresponding theoretical analysis is carried out based on the state observer, the feasibility and effectiveness of the method are fully verified through a large number of numerical simulation experiments, and the operation efficiency of the three-dimensional bridge crane with the double-pendulum effect is further improved; and meanwhile, the state observer and sliding mode control are combined in the control method, so that the method is high in robustness and adaptability and insensitive to model parameters. Therefore, when system parameters are changed, the method can still achieve a good anti-swing control effect.

Description

technical field [0001] The invention belongs to the anti-swing technical field of overhead cranes, and in particular relates to an anti-swing control method and control system for a three-dimensional double-swing overhead crane. Background technique [0002] At present, a crane, also known as a crane, is a common large-scale engineering handling equipment, which is often used in metallurgy, electric power, logistics and other industries to complete the transportation of goods, greatly improving production efficiency and liberating labor. In the new development goals, the traditional manufacturing industry will develop towards digitization, unmanned, and intelligentization, and these characteristics put forward high efficiency, high safety, and high precision requirements for the common transportation tool in the manufacturing industry - cranes. [0003] Cranes generally include bridge cranes, tower cranes, gantry cranes and jib cranes. According to the difference in mechani...

AI Technical Summary

Problems solved by technology

[0006] (1) Since the number of independent control variables of the crane system is less than the number of system degrees of freedom, the system is a typical underactuated system, and this type of system is often more difficult to control

[0007] (2) In order to reduce the swing during the operation of the crane, the operator can only control the horizontal movement of the trolley and the lifting of the load, but cannot directly control the swing of the load

[0008] (3) The swing of the existing load is eliminated by air resistance, which often takes a lot of time and greatly reduces work efficiency

[0009] (4) In some cases, the load swing will show a double pendulum phenomenon, which greatly increases the difficulty of dynamic performance analysis and controller design, thus limiting the wide application of existing control strategies

[0010] (5) In the actual industrial production process, the cart and the trolley are usually moved independently, which is equivalent to dividing one three-dimensional movement into two two-dimensional movements, which reduces the operating efficiency of the crane

[0012] (1) The number of independent control variables of the crane system is less than the number of degrees of freedom of the system, and the system has strong underactuation and nonlinearity

[0013] (2) When the load swing shows a double pendulum phenomenon, the difficulty of dynamic performance analysis and controller design of the system is greatly increased, and the existing control strategy cannot achieve rapid swing elimination

[0014] (3) In the actual industrial production process, the cart and the trolley are usually moved independently, which is equivalent to dividing one three-dimensional movement into two two-dimensional movements. This method reduces the operating efficiency of the crane

When the cart and the trolley move at the same time, the coupling and nonlinearity between the systems are greatly enhanced, and the design difficulty of the control system is greatly increased

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