Lifting control method, system, computer device and storage medium for lifting system

Abstract

The embodiments of the present invention disclose a lifting control method, system, computer device and storage medium for a lifting system, and relate to the field of lifting control technology. The method establishes a lifting system model by establishing actual force information of the output end, control input information of the input end, force information of the input end actually acting on the output end and virtual state information of the input end acting on the lifting system, thereby establishing a model associated with parameters related to the lifting system, and constraining the force information of the input end actually acting on the output end and the virtual state information of the input end acting on the lifting system in the model, so as to constrain the actual control process of the lifting system. Furthermore, the method also obtains the tracking state and virtual control law of the robust controller to ensure that the actual control process of the lifting system always meets the constraint conditions, avoids interference of external interference factors to the lifting system, and ensures that the lifting system meets the set interference suppression performance indicators.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting control, and in particular to a lifting control method, device, computer equipment and storage medium. Background Art

[0002] In the field of adaptive control of nonlinear systems, adaptive control of systems with uncertain parameters has been widely studied. The introduction of the back-propagation algorithm has relaxed the growth constraints and matching constraints that the nonlinear system needs to satisfy. However, for actual lifting control devices, only considering the uncertainty of parameters is only an ideal situation. Unmodeled dynamic factors and external interference may cause the control system designed based on the ideal situation to become unstable. Summary of the invention

[0003] Based on this, it is necessary to provide a lifting control method, system, computer equipment and storage medium for a lifting system, aiming to solve the technical problem that the control system of the existing lifting system is easily unstable due to the design based on ideal conditions.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solution:

[0005] A lifting control method for a lifting system, wherein the lifting system comprises an input end and an output end, and comprises the following steps:

[0006] Obtaining actual force information of the output end;

[0007] Establishing a lifting system model regarding actual force information of the output end, control input information of the input end, force information of the input end actually acting on the output end, and virtual state information of the input end acting on the lifting system, and constraining the force information of the input end actually acting on the output end and the virtual state information of the input end acting on the lifting system in the model;

[0008] According to the model, obtaining a robust controller tracking state;

[0009] According to the tracking state, obtaining a virtual control law; and

[0010] The control input information is output according to the actual force information of the output end, the tracking state and the virtual control law.

[0011] In some embodiments of the method, the actual force information of the output end is the tension applied to the output end measured by a sensor, the control input information of the input end is the tension output by the input end, the force information actually applied by the input end on the output end is the tension actually applied by the input end on the output end, and the virtual state information of the input end acting on the lifting system is the transmission value of the tension output by the output end in the lifting system.

[0012] In some embodiments of the method, the model includes a first state change of the tension actually applied by the input end to the output end, a second state change of the transmission value of the tension output by the output end in the lifting system, and a correspondence between the tension received by the output end and the tension actually applied by the input end to the output end.

[0013] In some embodiments of the method, the pulling force applied to the output end is equal to the pulling force actually applied to the output end by the input end.

[0014] In some embodiments of the method, the first state change is obtained based on a change in the control direction of the tension actually applied by the input end to the output end, a transfer value of the tension output by the output end in the lifting system, a first uncertain parameter related to the tension actually applied by the input end to the output end, the tension actually applied by the input end to the output end, and a first time-varying disturbance vector related to the tension actually applied by the input end to the output end.

[0015] In some embodiments of the method, the control direction of the transfer value of the tension output from the output end in the lifting system changes, the tension output from the input end, and a second uncertain parameter of the transfer value of the tension output from the output end in the lifting system, the transfer value of the tension output from the output end in the lifting system, the tension actually acting on the output end from the input end, and a second time-varying disturbance vector of the transfer value of the tension output from the output end in the lifting system are used to obtain the second state change.

[0016] In some embodiments of the method, an adaptive law of the first uncertain parameter is obtained by a projection operator.

[0017] In order to solve the above technical problems, the second technical solution adopted by the present invention is:

[0018] A lifting control system of a lifting system, wherein the lifting system comprises an input end and an output end, and comprises the following modules:

[0019] The first module is used to obtain the actual force information of the output end;

[0020] a modeling module, for establishing a lifting system model regarding actual force information of the output end, control input information of the input end, force information of the input end actually acting on the output end, and virtual state information of the input end acting on the lifting system, and constraining the force information of the input end actually acting on the output end and the virtual state information of the input end acting on the lifting system in the model;

[0021] A tracking state module, used for obtaining a tracking state of a robust controller according to the model;

[0022] A second module is used to obtain a virtual control law according to the tracking state; and

[0023] The output module outputs the control input information according to the actual force information of the output end, the tracking state and the virtual control law.

[0024] In order to solve the above technical problems, the third technical solution adopted by the present invention is:

[0025] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the steps of the method described above.

[0026] In order to solve the above technical problems, the fourth technical solution adopted by the present invention is:

[0027] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the above method.

[0028] Implementing the embodiments of the present invention will have the following beneficial effects:

[0029] The lifting control method of the lifting system of the above scheme is applied to the lifting system. In addition to making the lifting system have excellent lifting performance, it can also perform robust control on the lifting system, effectively suppress the model parameters of the lifting system and the interference brought by the outside world, and improve the control stability. Specifically, the method establishes a lifting system model about the actual force information of the output end, the control input information of the input end, the force information of the input end actually acting on the output end, and the virtual state information of the input end acting on the lifting system, so as to establish a model associated with the relevant parameters of the lifting system, and constrain the force information of the input end actually acting on the output end and the virtual state information of the input end acting on the lifting system in the model, so as to constrain the actual control process of the lifting system. Furthermore, the method also obtains the tracking state and virtual control law of the robust controller to ensure that the actual control process of the lifting system always meets the constraint conditions, avoids the interference of external interference factors on the lifting system, and ensures that the lifting system meets the set interference suppression performance indicators. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] in:

[0032] Figure 1 is a flow chart of a lifting control method of a lifting system provided by an embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of assembling a lifting system and an iron tower in a lifting control method of a lifting system provided by an embodiment of the present invention;

[0034] Figure 3 for Figure 2 A schematic diagram of the enlarged structure of the middle part A;

[0035] Figure 4 for Figure 2 The enlarged structural diagram of the middle B part;

[0036] Figure 5 for Figure 2 A schematic diagram of the structure of the frame assembly in the lifting system shown;

[0037] Figure 6 for Figure 2 A top view of a frame assembly in the lifting system shown;

[0038] Figure 7 for Figure 2 A schematic diagram of the structure of the hoop device in the lifting system shown;

[0039] Figure 8 for Figure 7 The enlarged structural diagram of the middle C part;

[0040] Fig. 9 for Figure 2 A schematic diagram of the structure of the movable pulley block in the lifting system shown;

[0041] Fig.10 A schematic diagram of a comparative experiment of a lifting control method of a lifting system provided by an embodiment of the present invention;

[0042] Fig.11 A flowchart of a robust controller in a lifting control method for a lifting system provided by an embodiment of the present invention;

[0043] Fig.12 The present invention is a schematic diagram of the structure of a lifting control system of a lifting system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0046] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0048] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0049] In the field of adaptive control of nonlinear systems, adaptive control of systems with uncertain parameters has been widely studied. The introduction of the back-propagation algorithm has relaxed the growth constraints and matching constraints that the nonlinear system needs to satisfy. However, for actual lifting control devices, only considering the uncertainty of parameters is only an ideal situation. Unmodeled dynamic factors and external interference may cause the control system designed based on the ideal situation to become unstable.

[0050] In order to solve the above technical problems, the present invention provides a lifting control method, system, computer equipment and storage medium of a lifting system.

[0051] See also Figure 1 , is a flow chart of a lifting control method of a lifting system provided by an embodiment of the present invention. Figures 2 to 4 As shown, the lifting system includes an input end 10, a frame assembly 20, a pulley assembly 30, a sensor 40 and an output end 50. In this embodiment, the lifting system is used for stable lifting of the power grid tower 1 to facilitate the disassembly of the power grid tower 1. Figures 3 to 6 , the frame assembly 20 is arranged around the power grid tower 1 and is fixedly connected to the ground 2. The frame assembly 20 includes a plurality of frames 21. Each frame 21 is arranged around the power grid tower 1 and connected as a whole. Adjacent frames 21 are partially spaced to form a slideway 100 extending along the lifting direction. The pulley assembly 30 is arranged on the frame assembly 20 through the sensor 40 and suspended on the slideway 100. Further, the pulley assembly 30 includes a fixed pulley block 31 and a movable pulley block 32. The input end 10 is wound around the fixed pulley block 31 and the movable pulley block 32 through the cable 60 to drive the movable pulley block 32 to rise and fall relative to the fixed pulley block 31. The movable pulley block 32 is connected to the power grid tower 1 through the output end 50. In this embodiment, the input end 10 is a servo winch. The output end 50 is a clamp device. As Figure 3 , Figure 4 , Figures 7 to 9As shown, the clamping device includes a clamping plate mechanism 51 and a connecting rod assembly 52. ​​The number of the clamping plate mechanisms 51 is consistent with the number of the slideways 100 and corresponds one to one. The connecting rod assembly 52 is used to connect the relatively arranged clamping plate mechanisms 51 into one. The connecting rod assembly 52 includes a plurality of connecting rods 521, each of which is arranged at intervals along the lifting direction and connected to the corresponding clamping plate mechanism 51. The connecting rods 521 located in different connecting rod assemblies 52 are detachably connected through a connecting member 522. The clamping plate mechanism 51 includes a guide assembly 511, a connecting assembly 512 and a clamping assembly 513. The clamping assembly 513 includes two clamping plates arranged oppositely. The clamping plate is self-bent to form a semicircular connecting groove 200, and the two connecting grooves 200 are arranged oppositely to accommodate the rods of the power grid tower 1. The clamping plate includes a first wing 5131 and a second wing 5132 located on both sides of the connecting groove 200. The two first wings 5131 and the two second wings 5132 are arranged opposite to each other, and bolt holes are provided thereon, so as to adjust the distance between the two first wings 5131 and the two second wings 5132 by bolts, thereby adjusting the clamping force on the rod of the power grid iron tower 1. The connecting assembly 512 includes two connecting plates 5121. The two first wings 5131 are clamped between the two connecting plates 5121, and bolt holes are provided on the connecting plates 5121, so as to adjust the clamping force of the connecting plates 5121 on the first wings 5131 by bolts. The connecting rod 521 is connected to the connecting plates 5121. The guide assembly 511 includes two guide plates 5111. The two second wings 5132 are clamped between the two guide plates 5111, and the movable pulley block 32 is provided with a clamping portion 321, which is clamped between the two guide plates 5111. The guide plate 5111 is provided with a roller 5112 that cooperates with the slideway 100. Ribs 514 are provided between the clamping plate and the connecting plate 5121 and between the clamping plate and the guide plate 5111. In this way, the grid tower 1 is stably connected through the clamp device and the grid tower 1 is conveniently driven along the frame assembly 20.

[0052] Furthermore, there are multiple pulley assemblies 30, and the number of each pulley assembly 30 is consistent with the number of each clamping mechanism 51 and corresponds one to one. A plurality of pulleys 70 are provided at the bottom of the frame assembly 20, and the number of each pulley 70 is consistent with the number of each clamping mechanism 51 and corresponds one to one. The number of input terminals 10 is consistent with the number of each clamping mechanism 51 and corresponds one to one. In this embodiment, the servo winch is connected to the corresponding pulley 70 through the cable 60 first, and the cable 60 rises from the pulley 70 along the lifting direction and winds around the pulley assembly 30 located above, so that the direction of the force applied by the servo winch to the clamping device through the cable 60 is parallel to the lifting direction. At the same time, when the cable 60 acts on the frame assembly 20, it has a component force perpendicular to the ground 2, which ensures the overall stability of the lifting system. At the same time, the frame assembly 20 is also circumferentially provided with a connecting rope 80 connected to the ground 2 to further enhance the overall stability of the lifting system.

[0053] Furthermore, if Figure 1 As shown, the lifting control method of the lifting system includes the following steps:

[0054] The actual force information of the output end 50 is obtained. The actual force information of the output end 50 is the tension applied to the output end 50 measured by the sensor 40. The sensor 40 is a tension sensor 40.

[0055] A lifting system model is established with respect to the actual force information of the output end 50, the control input information of the input end 10, the force information of the input end 10 actually acting on the output end 50, and the virtual state information of the input end 10 acting on the lifting system. Constraints are imposed on the force information of the input end 10 actually acting on the output end 50 and the virtual state information of the input end 10 acting on the lifting system in the model.

[0056] Among them, the control input information of the input end 10 is the tension output by the input end 10, the force information actually applied by the input end 10 on the output end 50 is the tension actually applied by the input end 10 on the output end 50, and the virtual state information of the input end 10 acting on the lifting system is the transmission value of the tension output by the output end 50 in the lifting system.

[0057] Further, the model includes a first state change amount of the tension actually applied by the input end 10 to the output end 50, a second state change amount of the transfer value of the tension output by the output end 50 in the lifting system, and a corresponding relationship between the tension received by the output end 50 and the tension actually applied by the input end 10 to the output end 50. The first state change amount is obtained according to the change in the control direction of the tension actually applied by the input end 10 to the output end 50, the transfer value of the tension output by the output end 50 in the lifting system, the first uncertain parameter related to the tension actually applied by the input end 10 to the output end 50, the tension actually applied by the input end 10 to the output end 50, and the first time-varying disturbance vector related to the tension actually applied by the input end 10 to the output end 50. The second state variation is obtained by changing the control direction of the transmission value of the tension output by the output end 50 in the lifting system, the tension output by the input end 10, and the second uncertain parameter of the transmission value of the tension output by the output end 50 in the lifting system, the transmission value of the tension output by the output end 50 in the lifting system, the tension actually applied by the input end 10 to the output end 50, and the second time-varying disturbance vector of the transmission value of the tension output by the output end 50 in the lifting system. The tension applied to the output end 50 is equal to the tension actually applied by the input end 10 to the output end 50.

[0058] In this embodiment, the model is a second-order nonlinear system, and its mathematical modeling definition is:

[0059]

[0060] in, , is the state vector of the pulling force actually exerted by the input end 10 on the output end 50, is the state vector of the transmission value of the pulling force outputted from the output terminal 50 in the lifting system, is the first state change, is the second state change, , is the pulling force output from the input end 10, , is the tensile force on the output end 50 measured by the sensor 40, is the actual pulling force from the input end 10 to the output end 50, is the transmission value of the pulling force outputted from the output end 50 in the lifting system. Further, , is a function of the change in the control direction of the pulling force actually applied by the input end 10 to the output end 50, is a function of the change in the control direction of the transmission value of the pulling force output from the output end 50 in the lifting system, , is the first uncertain parameter, is the second uncertain parameter, is the first time-varying disturbance vector, The present invention takes into account the time-varying factors of the control directions of the multiple pulley assemblies 30, does not require a priori knowledge of the upper and lower bounds of the time-varying control coefficients, ensures the boundedness of all signals of the lifting system, and makes the tracking error converge to any small neighborhood of zero.

[0061] Furthermore, the force information of the input end 10 actually acting on the output end 50 in the model and the virtual state information of the input end 10 acting on the lifting system are constrained, that is, the transmission value of the tension actually acting on the output end 50 by the input end 10 and the tension output by the output end 50 in the lifting system is constrained. The constraint condition for constraining the tension actually acting on the output end 50 by the input end 10 is ,in, is the actual pulling force range of the input end 10 on the output end 50. The constraint condition for constraining the transmission value of the pulling force output from the output end 50 in the lifting system is ,in, It is the range of transmission values ​​of the pulling force outputted from the output end 50 in the lifting system.

[0062] Furthermore, for the convenience of subsequent representation, let , , , , so that the above mathematical modeling is defined as:

[0063] .

[0064] According to the model, the tracking state of the robust controller is obtained. Specifically, the tracking state is expressed by the following formula:

[0065]

[0066] in, is the target pulling force on the output end 50, is the tracking error of the lifting system, To transfer the value tracking error, is the virtual control law.

[0067] According to the tracking state, the virtual control law is obtained. Specifically, in order to ensure that the lifting system is controlled without violating Constraints, introduce Nussbaum type function and the barrier Lyapunov function ,in, The virtual control law can be obtained :

[0068]

[0069] in, , are hyperparameters that need to be customized for the lifting system. In this embodiment, their values ​​are set to 10 and 0.1 respectively. is the first uncertain parameter The estimator of , through the projection operator, can get its adaptive law:

[0070]

[0071] The projection operator is defined as:

[0072]

[0073] And, among them, , is an arbitrary positive real number, is a known radius closed sphere.

[0074] According to the actual force information, tracking state and virtual control law of the output terminal 50, the control input information is output. Specifically, in order to ensure that the lifting system is controlled without violating Constraints, introduce Nussbaum type function and the barrier Lyapunov function ,in The control input information, that is, the pulling force output from the input terminal 10, can be obtained. :

[0075] , that is, the actual control law is obtained.

[0076] in,

[0077]

[0078]

[0079]

[0080]

[0081] in, is a custom hyperparameter of the lifting system. In this embodiment, its value is set to 10. yes The estimator of , through the projection operator, can get its adaptive law:

[0082]

[0083] At this point, by setting the initial value , , , and parameters , , , , According to the original system, virtual control law, actual control law and parameter adaptive law, a closed-loop control of the robust controller is constructed, so that all signals of the closed-loop system are bounded, the state of the lifting system always satisfies the constraints during the control process, and the tracking error of the lifting system is Converges to the region of 0. Fig.10 This is a schematic diagram of a comparative experiment of the lifting control method of the lifting system provided in an embodiment of the present invention. It can be seen from the figure that the lifting control method of the lifting system provided in an embodiment of the present invention has a more stable control error compared with the PID controller and the backstepping controller.

[0084] like Fig.11 As shown, it is a working flow chart of the robust controller in the lifting control method of the lifting system provided by the embodiment of the present invention, which specifically includes the following steps:

[0085] S1. Set the initial value of the lifting control system, including , , , and parameters , , , , .

[0086] S2. Obtaining actual force information of the output terminal 50.

[0087] S3. Calculate the virtual state information of the lifting system acting on the input terminal 10.

[0088] S4. Calculate control input information.

[0089] S5. Output control input information.

[0090] S6. The input end 10 outputs a pulling force.

[0091] S7, whether to end the control, if yes, then end the control, if no, return to step S2, and re-acquire the actual force information of the output end 50.

[0092] In summary, the implementation of the embodiment of the present invention will have the following beneficial effects: the lifting control method of the lifting system of the above scheme is applied to the lifting system. In addition to making the lifting system have excellent lifting performance, it can also perform robust control on the lifting system, effectively suppress the model parameters of the lifting system and the interference brought by the outside world, and improve the control stability. Specifically, the method establishes a lifting system model about the actual force information of the output end 50, the control input information of the input end 10, the force information of the input end 10 actually acting on the output end 50, and the virtual state information of the input end 10 acting on the lifting system, so as to establish a model associated with the relevant parameters of the lifting system, and constrain the force information of the input end 10 actually acting on the output end 50 and the virtual state information of the input end 10 acting on the lifting system in the model, so as to constrain the actual control process of the lifting system. Furthermore, the method also obtains the tracking state and virtual control law of the robust controller to ensure that the actual control process of the lifting system always meets the constraint conditions, avoids the interference of external interference factors on the lifting system, and ensures that the lifting system meets the set interference suppression performance indicators.

[0093] like Fig.12 As shown, a lifting control system of a lifting system includes the following modules:

[0094] The first module 91 is used to obtain the actual force information of the output end 50;

[0095] A modeling module 92 is used to establish a lifting system model regarding actual force information of the output end 50, control input information of the input end 10, force information actually applied by the input end 10 to the output end 50, and virtual state information applied by the input end 10 to the lifting system, and to constrain the force information actually applied by the input end 10 to the output end 50 and the virtual state information applied by the input end 10 to the lifting system in the model;

[0096] A tracking state module 93, used to obtain a robust controller tracking state according to the model;

[0097] A second module 94 is used to obtain a virtual control law according to the tracking state; and

[0098] The output module 95 outputs the control input information according to the actual force information, tracking state and virtual control law of the output terminal 50.

[0099] A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the steps of the above method.

[0100] A computer device includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor executes the steps of the above method.

[0101] Since the computer device introduced in this embodiment is the device used to implement the lifting control method of the lifting system in the embodiment of the present application, based on the method introduced in the embodiment of the present application, the technical personnel in this field can understand the specific implementation mode of the computer device of this embodiment and its various variations. Therefore, how the computer device implements the method in the embodiment of the present application is not introduced in detail here. As long as the technical personnel in this field implement the method in the embodiment of the present application, the device adopted by the technical personnel in this field belongs to the scope of protection of this application.

[0102] In the specific implementation process, when the computer program is executed by the processor, it can achieve Figure 1 Any implementation manner in the corresponding embodiments.

[0103] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0104] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0105] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0106] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0108] The present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device is caused to execute the following Figure 1 The process of the lifting control method of the lifting system in the corresponding embodiment.

[0109] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0110] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0111] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0112] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0113] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0114] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0115] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A lifting control method for a lifting system, wherein the lifting system comprises an input end and an output end, and is characterized in that: The steps include: Obtaining actual force information of the output end; Establishing a lifting system model regarding actual force information of the output end, control input information of the input end, force information of the input end actually acting on the output end, and virtual state information of the input end acting on the lifting system, and constraining the force information of the input end actually acting on the output end and the virtual state information of the input end acting on the lifting system in the model; According to the model, obtaining a robust controller tracking state; According to the tracking state, a virtual control law is obtained; as well as Outputting the control input information according to the actual force information of the output end, the tracking state and the virtual control law; The actual force information of the output end is the tension applied to the output end measured by the sensor, the control input information of the input end is the tension output by the input end, the force information actually applied by the input end to the output end is the tension actually applied by the input end to the output end, and the virtual state information applied by the input end to the lifting system is the transmission value of the tension output by the output end in the lifting system; The model includes a first state change of the pulling force actually applied by the input end to the output end, a second state change of the transmission value of the pulling force output by the output end in the lifting system, and a corresponding relationship between the pulling force applied by the output end and the pulling force actually applied by the input end to the output end; Wherein, the pulling force applied to the output end is equal to the pulling force actually applied to the output end by the input end; The first state change amount is obtained according to the change in the control direction of the pulling force actually acting on the output end by the input end, the transfer value of the pulling force output by the output end in the lifting system, the first uncertain parameter related to the pulling force actually acting on the output end by the input end, the pulling force actually acting on the output end by the input end, and the first time-varying disturbance vector related to the pulling force actually acting on the output end by the input end; Among them, the second state change is obtained according to the control direction change of the transfer value of the tension output from the output end in the lifting system, the tension output from the input end, the second uncertain parameter of the transfer value of the tension output from the output end in the lifting system, the transfer value of the tension output from the output end in the lifting system, the tension actually acting on the output end by the input end, and the second time-varying disturbance vector of the transfer value of the tension output from the output end in the lifting system.

2. The method according to claim 1, characterized in that An adaptive law of the first uncertain parameter is obtained through a projection operator.

3. A lifting control system of a lifting system, the lifting system comprising an input end and an output end, characterized in that: The lifting control method of the lifting system according to any one of claims 1 to 2 is applied to the lifting control system of the lifting system, and the lifting control system of the lifting system includes the following modules: The first module is used to obtain the actual force information of the output end; a modeling module, for establishing a lifting system model regarding actual force information of the output end, control input information of the input end, force information of the input end actually acting on the output end, and virtual state information of the input end acting on the lifting system, and constraining the force information of the input end actually acting on the output end and the virtual state information of the input end acting on the lifting system in the model; A tracking state module, used for obtaining a tracking state of a robust controller according to the model; A second module is used to obtain a virtual control law according to the tracking state; as well as The output module outputs the control input information according to the actual force information of the output end, the tracking state and the virtual control law.

4. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 2.

5. A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method according to any one of claims 1 to 2.

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