Non-singular terminal sliding mode anti-shaking control method in vertical lifting process of slender load

A non-singular terminal and control method technology, which is applied in the field of non-singular terminal sliding mode anti-shake control, can solve difficult measurement and application problems, achieve the effects of convenient application, wide application range, and improved work efficiency

Pending Publication Date: 2022-06-03
WUHAN UNIV OF TECH
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Problems solved by technology

In addition, a control strategy based on two coordinate transformations is proposed to solve the problem that the generalized coordinates are difficult to be measured and applied on the actual crane, and to make the proposed sliding mode controller applicable to different measurement systems and drive systems. various cranes

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  • Non-singular terminal sliding mode anti-shaking control method in vertical lifting process of slender load
  • Non-singular terminal sliding mode anti-shaking control method in vertical lifting process of slender load
  • Non-singular terminal sliding mode anti-shaking control method in vertical lifting process of slender load

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[0015] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as there is no conflict with each other.

[0016] The control principle of the present invention is as follows figure 1 As shown, when the slender load crane is subjected to external disturbance d and the load shakes, the measurement coordinate transformation function F(x m ) will measure the quantity x m Converted to the generalized coordinate quantity q; then, the non-singular terminal sliding mode controller uses the generalized coordin...

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Abstract

The invention discloses a nonsingular terminal sliding mode anti-shake control method in a slender load vertical lifting process, which comprises the following steps of: establishing a nonlinear three-dimensional dynamic model in the slender load lifting process by utilizing generalized coordinate quantity based on a Lagrange dynamics analysis method; on the basis, a nonsingular terminal sliding mode control model composed of equivalent control and switching control is established by using an equivalent control method; meanwhile, a control strategy is provided, and the problem that the generalized coordinate quantity on the actual crane is difficult to measure and control is solved by utilizing two times of coordinate transformation. The problem of slender load lifting shaking under the condition of external interference can be solved, industrial application is easy, and the working efficiency and the operation stability of the crane can be remarkably improved.

Description

technical field [0001] The invention relates to the field of hoisting and transportation, in particular to a non-singular terminal sliding mode anti-sway control method for a vertical hoisting process of a slender load. Background technique [0002] Cranes are widely used in important industrial places such as material warehouses, metallurgical manufacturing, and large-scale equipment assembly. In crane applications, lifting a horizontally slender load perpendicular to the ground is a common condition. During the lifting process, one end of the slender load is lifted by the crane, and the other end is in contact with the ground. Due to external disturbances, the load will inevitably sway around the contact point between the load and the ground, especially in the application of outdoor cranes such as wind turbine tower installation and rocket assembly. The long-term shaking of the load will seriously affect the working efficiency of the crane and bring serious safety hazard...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/06B66C13/48G06F30/20G06F17/10
CPCB66C13/063B66C13/48G06F30/20G06F17/10
Inventor 汪小凯夏明辉华林郑戈飞
Owner WUHAN UNIV OF TECH
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