Active-disturbance-rejection and anti-swing control method for composite slip form of movable base bridge crane

Abstract

The invention belongs to the technical field of control of movable base bridge cranes, and particularly relates to an active-disturbance-rejection and anti-swing control method for a composite slip form of a movable base bridge crane. Comprising the following steps: step 1, establishing a dynamic model of a movable base bridge crane system based on a Lagrange equation; 2, on the basis of the dynamic model established in the step 1, an S-shaped curve based on a sigmoid function is adopted as an ideal tracking track of the trolley, and a composite sliding mode active-disturbance-rejection control law is established; and 3, based on a Lyapunov energy method, the stability of the composite sliding mode active-disturbance-rejection control law constructed in the step 2 is proved. A virtual composite controlled quantity containing trolley displacement and load swing angle information is constructed, a new controlled system structure is constructed, total disturbance is observed through LESO, a composite sliding-mode active-disturbance-rejection controller is designed, stable control over a crane system is achieved, stable and rapid control can be achieved on the basis that the anti-swing speed is not affected, and the stability of the system is improved. And the problem of overlarge control quantity can be effectively solved.

Description

technical field [0001] The invention belongs to the technical field of bridge crane control on a moving base, and in particular relates to a control method for a composite sliding mode automatic disturbance rejection and anti-swing of a bridge crane on a moving base. Background technique [0002] Marine cranes are easily affected by wind and waves during hoisting operations, and belong to a type of lifting equipment under the excitation of a moving base. Among them, the moving base bridge crane is mainly used for the container transfer at sea between the large container carrier and the floating platform of the ship. Considering the flexible traction drive mode of the wire rope, the swing of the hanging object will directly affect the safety and work efficiency of the crane. The strong coupling, nonlinearity and uncertainty of the hanging object system of the moving base bridge crane greatly increase the complexity of the system. The research on the anti-swing control is an ...

AI Technical Summary

Problems solved by technology

Considering the flexible traction drive mode of the wire rope, the swing of the hanging object will directly affect the safety and work efficiency of the crane

The strong coupling, nonlinearity and uncertainty of the suspension system of the movable base bridge crane greatly increase the complexity of the system. The research on its anti-sway control is an important and challenging task, and it is the most important task in the research of marine cranes at present. Hot Difficult Problems

[0003] Conventional sliding mode ADRC controllers do not fully consider the coupling relationship between the system swing angle and displacement, so it is necessary to construct two Linear Extended State Observers (LESO), resulting in redundant control structures, and it is difficult to pass Adjust the observer parameters to achieve the optimal state

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