Anti-swing control method for bridge crane

Abstract

The invention discloses an anti-swing control method for a bridge crane, and belongs to the technical field of anti-swing of bridge cranes. The anti-swing control method of the bridge crane comprises the following steps: S100, establishing a motion equation of the bridge crane; s200, constructing a finite time state observer and a non-singular fast terminal sliding mode controller according to the motion equation of the bridge crane; and S300, combining the finite time state observer and the non-singular fast terminal sliding mode controller and controlling the operation of the bridge crane. Aiming at the problem of poor anti-swing effect of the bridge crane in the prior art, the invention provides the anti-swing control method of the bridge crane, the bridge crane can be quickly and accurately positioned and prevented from swinging through the combination of the finite time state observer and the nonsingular terminal sliding mode controller, so that the anti-swing effect of the bridge crane is improved.

Description

technical field [0001] The invention belongs to the technical field of anti-swing of bridge cranes, and more specifically relates to an anti-swing control method of bridge cranes. Background technique [0002] Overhead crane is a common heavy cargo transportation tool, and its system is a typical underactuated system, which has the advantages of strong load capacity, flexible activities, and low energy consumption. With the industrialization of society, in order to improve work efficiency, the demand for overhead cranes is also increasing, and they are widely used in ports, docks, factories, warehouses and other places. If the crane can move safely and quickly, it can directly affect the loading and unloading efficiency of the cargo, but in actual use, the safety factor of the overhead crane will be reduced due to the swing of the load. The main causes of load swing are inertia, friction and wind effects. The overhead crane is a nonlinear and strongly coupled system, so th...

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Problems solved by technology

[0006]Aiming at the problem that the anti-swing effect of the overhead crane is poor in the prior art, the present invention provides an anti-swing control method for the overhead crane, which uses a limited time state The combination of observer and non-singular terminal sliding mode controller enables fast and accurate positioning and anti-swing of the overhead crane, thereby improving the anti-swing effect of the overhead crane

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