Anti-swing sliding mode control method for movable base bridge crane based on Hurwitz stability

A technology of bridge crane and control method, which is applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve the problems of difficult setting and many sliding mode controller parameters, and achieve good function, load elimination and The energy consumption and robustness of the controller are good, and the effect of providing the realizability of the control system

Pending Publication Date: 2022-06-07
中国人民解放军火箭军工程大学
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0004] At present, there is no corresponding control method that can effectively solve the problems in the above-mentioned prior art. Therefore, it is urgent to design a sliding mode controller that can effectively control the swing of the hanging object and the sliding mode controller during the use of the bridge crane on the brake base. The problem of many parameters and difficult tuning

Method used

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  • Anti-swing sliding mode control method for movable base bridge crane based on Hurwitz stability
  • Anti-swing sliding mode control method for movable base bridge crane based on Hurwitz stability
  • Anti-swing sliding mode control method for movable base bridge crane based on Hurwitz stability

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Experimental program
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Effect test

Embodiment 1

[0156] Example 1: To verify the feasibility of the above-described anti-swing slip mode control method of the moving base bridge crane based on Hurwitz stability, the stability verification of the above method:

[0157] Theorem 1: Take ε> L, L = (1 + c 2 D represents the upper bound of the interference, then the control law of the crane system (23) can make the slip die surfaces shown in equation (17) converge to zero in a limited time;

[0158] Proof: Define the Lyapunov function as:

[0159]

[0160] Obviously, the V function is positively definite and can be derived by deriving it:

[0161]

[0162] When ε> L, the control law is substituted Medium, available

[0163]

[0164] Available by formula (26) and formula (24).

[0165]

[0166] From Equation (27), it can be seen that both the Lyapunov function V(t) and the sliding mode surface of the system s(t) are bounded, i.e. s,V∈L ∞ ；

[0167] Therefore, from the Lyapunov stability theory in equation (16), it can be seen th...

Embodiment 2

[0192] Example 2: Simulation results and analysis

[0193] 1. Controller comparative analysis

[0194] In order to test the positioning and slewing effect of the proposed sliding mode control, matlab / Simulink simulation experiment is designed, and the sampling time is 0.05s, and the control effect of the proposed sliding mode controller is compared with the traditional PID and LQR. The S-type function based on the sigmoid function is used to plan the trajectory of the trolley movement; Sets the maximum acceleration of the trolley A max ＝0.2m / s 2 , the trolley is rated speed V max =1m / s, the tracking distance is 10m; In the simulation, the system parameters are set to: M=20kg, m=4kg, and g=9.81m / s 2 , l=0.7m, h=2.5m; its initial state is set to x(0)=0, θ(0)＝0, The rocking angle of the base movement in harsh sea conditions is φ = 0.01sin(0.8t)rad;

[0195] Sliding mode controller such as equation (23), because the switching function sgn(s) is easy to switch frequently when the sta...

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Abstract

The invention discloses an anti-swing sliding mode control method for a movable base bridge crane based on Hurwitz stability. The anti-swing sliding mode control method comprises the following steps: S1, establishing a system dynamics model of the movable base bridge crane based on a Lagrange equation; s2, introducing a state variable of the system, and designing a control law system total input of a crane system of a controller according to the simplified model of the movable base bridge crane system; according to the method, the sliding mode surface parameters are converted into single parameters for adjustment by using the property of the Hurwitz stable matrix, the problems that the sliding mode controller has many parameters and is difficult to set can be effectively solved, and the method has the characteristics of trolley positioning, load anti-swing, controller energy consumption and good robustness.

Description

Technical field [0001] The present invention relates to the field of bridge crane control technology, specifically to a dynamic base bridge crane anti-swing slip mode control method based on Hurwitz stable. Background [0002] At present, as a transport machinery, bridge cranes are widely used in various fields of national economic construction and play an extremely important role; In order to create greater value, the work efficiency of the bridge crane must be continuously improved, and the performance of safe operation indicators, trolley positioning and load anti-swing determines the transportation efficiency of the bridge crane to a large extent; [0003] Marine cranes are susceptible to wind and waves during lifting operations, and belong to a class of lifting equipment under the action of moving base incentives, among which, moving base bridge cranes are mainly used for container sea barges between large container transport ships and ship floating platforms, considering th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 何祯鑫杜文正王欣于传强郭杨刘渊王俊提
Owner 中国人民解放军火箭军工程大学
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