Ladle crane control method and device and computer readable storage medium

A control method and crane technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems that are difficult to achieve, do not consider the offset of the center of mass of the load liquid, sloshing damping, and the offset of the center of mass, etc. The effect of eliminating chattering, improving stability and control performance, and fast convergence speed

CN112051738AActive Publication Date: 2020-12-08WUYI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2020-12-08

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Abstract

The invention discloses a ladle crane control method and device and a computer readable storage medium, and the ladle crane control method comprises the steps that a multi-mass-spring-damping model isbuilt, and a ladle crane control method is designed based on the multi-mass-spring-damping model, centroid shift of sloshing liquid and damping in the liquid sloshing process are fully considered, and a sloshing liquid mass part, a static liquid mass part and container mass are considered, so that control is more accurate; a global dynamic sliding mode surface with high-order feedback is adoptedto construct a global sliding mode controller, meanwhile, high-frequency signals and buffeting are effectively eliminated according to the low-frequency passing characteristic of a low-pass filter, convergence of all state quantities of the ladle crane is smoother, it is guaranteed that convergence of all the state quantities of the ladle crane is faster through the global sliding mode controller,and the anti-interference capability of the system is enhanced, and the stability and the control performance of the system of the ladle crane are effectively improved.
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Description

technical field

[0001] The invention relates to the technical field of automation control, in particular to a casting crane control method and device, and a computer-readable storage medium. Background technique

[0002] In the pendulum model of common foundry cranes, since the molten liquid and the ladle are considered as a whole, the influence of the center of mass offset of the molten liquid and the slosh damping inside the molten liquid and the ladle is ignored; in some control models of foundry cranes, Although the influence of the sloshing damping of the molten liquid is considered, the center of mass of the molten liquid will shift during the sloshing process.

[0003] The sloshing phenomenon and center-of-mass shift of the loaded liquid of the foundry crane are difficult to reflect in the existing particle model, and the liquid sloshing is a complex and highly uncertain fluid motion phenomenon. If there is external interference, the liquid sloshing phenomenon will be...

Examples

Embodiment Construction

[0068] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0069] In the description of the present invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc. indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in ...