A design method of a controller, a device, and a storage medium

Abstract

The application discloses a design method of a controller, equipment and a storage medium, relates to the technical field of underactuated electromechanical systems, and comprises the following steps: determining a coupling signal according to the coupling relationship between trolley displacement and load swing angle; determining a spatial state coupling equation between the trolley displacement and the load swing angle according to the coupling signal, a preset trolley ideal track and matching disturbance received by the trolley; constructing a hierarchical sliding mode surface according to the spatial state coupling equation in combination with a hierarchical sliding mode control method; and determining a driving force equation according to the hierarchical sliding mode surface in combination with a non-negative Lyapunov candidate function, wherein the controller is used for controlling the driving force size of the trolley according to the driving force equation. The application improves the robust performance and transient performance of the controller of the underactuated electromechanical system.

Description

Technical Field

[0001] This application relates to the field of underactuated electromechanical systems technology, and in particular to a controller design method, device, and storage medium. Background Technology

[0002] Underactuated electromechanical systems, such as typical bridge cranes, include trolleys, loads, controllers, and motors. Their working principle involves the controller controlling the driving force supplied by the motor to the trolley to move the load to the target position. In actual operation, underactuated bridge cranes are always subject to interference from wind and other uncertain factors, which affect the movement trajectory of the trolley and load. Furthermore, due to the coupling between the trolley's movement and the load's swaying, the load also interferes with the trolley. These interferences affect the movement trajectory of the trolley and load (e.g., the trolley cannot reach the target position, or the load cannot de-sway after the trolley reaches the target position). Controllers in related technologies do not consider these interference factors, resulting in poor robustness and transient performance. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a controller design method, device, and storage medium, which helps to improve the robustness and transient performance of controllers in underactuated electromechanical systems.

[0004] The first aspect of this application provides a method for designing a controller, including:

[0005] The coupling signal is determined based on the coupling relationship between the trolley displacement and the load swing angle;

[0006] Based on the coupling signal, the preset ideal trajectory of the trolley, and the matching disturbance experienced by the trolley, the spatial state coupling equation between the trolley displacement and the load swing angle is determined.

[0007] Based on the spatial state coupling equation and the layered sliding mode control method, a layered sliding mode surface is constructed.

[0008] The driving force equation is determined based on the layered sliding surface combined with the non-negative Lyapunov candidate function, and the controller is used to control the magnitude of the driving force of the conveying trolley according to the driving force equation.

[0009] The first aspect of this application provides a controller design method, which has at least the following beneficial effects: This application determines the coupling signal based on the coupling relationship between the trolley displacement and the load swing angle. Based on the coupling signal, a preset ideal trolley trajectory, and the matching disturbance experienced by the trolley, it determines the spatial state coupling equation between the trolley displacement and the load swing angle. Therefore, the spatial state coupling equation of this application takes into account the coupling relationship between the trolley displacement and the load swing angle, as well as the disturbance factors experienced by the trolley. Combined with the layered sliding mode control method, the spatial state coupling equation can continuously converge towards the ideal trolley trajectory on the layered sliding mode surface, thereby keeping the trolley displacement and load swing angle close to the ideal trajectory. Therefore, under this condition, the driving force equation determined by the non-negative Lyapunov candidate function can also keep the trolley displacement and load swing angle close to the ideal trajectory. Compared with the prior art, the controller designed according to the method of this application outputs driving force while considering the disturbance experienced by the trolley. Therefore, it is less prone to control deviation due to disturbances and has higher robustness and transient performance.

[0010] According to some embodiments of the first aspect of this application, the coupling signal includes a first coupling signal representing the trolley displacement and a second coupling signal representing the load swing angle. The step of determining the spatial state coupling equation between the trolley displacement and the load swing angle based on the coupling signal, a preset ideal trolley trajectory, and a matching disturbance experienced by the trolley includes:

[0011] The first state quantity of the trolley displacement is determined based on the difference between the first coupling signal and the ideal trajectory of the trolley.

[0012] The second state quantity of the load swing angle is determined based on the second coupling signal;

[0013] Based on the first state variable, the first derivative of the first state variable, the second state variable, the first derivative of the second state variable, and the matching perturbation experienced by the trolley, the spatial state coupling equation is obtained.

[0014] According to some embodiments of the first aspect of this application, the first coupling signal is: xg tanθ;

[0015] The second coupling signal is: g tanθ;

[0016] The first state variable is: x1 = xg tanθ - x d ;

[0017] The first derivative of the first state variable is:

[0018] The second state variable is: x3 = g tanθ;

[0019] The first derivative of the second state variable is:

[0020] The spatial state coupling equation is:

[0021] in,

[0022]

[0023]

[0024]

[0025] In the above, m is the load mass, l is the rope length connecting the load and the trolley, g is the gravitational acceleration, θ is the load swing angle, d is the matching disturbance experienced by the trolley, k is an intermediate parameter, u is an auxiliary signal, and x is the load mass. d Let x be the equation of the ideal trajectory of the trolley. d The following conditions must be met, where k v k a ∈R represents the corresponding upper bound, P d This is the desired position of the trolley.

[0026]

[0027] According to some embodiments of the first aspect of this application, the layered sliding surface includes a first layered sliding surface and a second layered sliding surface, the first layered sliding surface includes a first sub-sliding surface and a second sub-sliding surface, and the construction of the layered sliding surface based on the spatial state coupling equation combined with the layered sliding control method includes:

[0028] Construct the first sub-sliding surface based on the first state variable;

[0029] Construct the second sub-sliding surface based on the second state quantity;

[0030] A second layer of sliding surface is constructed based on the first sub-sliding surface and the second sub-sliding surface.

[0031] According to some embodiments of the first aspect of this application, the layered sliding surface is represented as follows:

[0032] First sub-sliding surface: s1 = c1x1 + x2; Second sub-sliding surface: s2 = c2x3 + x4;

[0033] Second sliding surface: S=∝s1+s2;

[0034] Where c1, c2, and ∝ are all positive parameters to be determined, and 0 < ∝ < 1.

[0035] According to some embodiments of the first aspect of this application, the driving force equation is determined based on the layered sliding surface combined with a non-negative Lyapunov candidate function, including:

[0036] The stability equation is determined based on the second sliding surface combined with the non-negative Lyapunov candidate function;

[0037] The auxiliary signal is obtained by taking the derivative of the stability equation and combining it with the hyperbolic tangent function.

[0038] The driving force equation is determined based on the auxiliary signal.

[0039] According to some embodiments of the first aspect of this application, the stability equation is:

[0040] Correspondingly, the auxiliary signal is:

[0041]

[0042] Among them, K Z , Let S be the positive definite controller gain, and tanh(S) be the hyperbolic tangent function of S.

[0043] According to some embodiments of the first aspect of this application, the driving force equation is:

[0044]

[0045]

[0046] Where u is the auxiliary signal, M is the trolley mass, and F is the trolley mass. r Let F be the frictional force between the trolley and the guide rail, k1 be an intermediate variable, d be the matching disturbance experienced by the trolley, and F be the frictional force between the trolley and the guide rail. a The driving force on the trolley.

[0047] A second aspect of this application provides an electronic device, including:

[0048] At least one memory;

[0049] At least one processor;

[0050] At least one program;

[0051] The program is stored in the memory, and the processor executes at least one of the programs to implement the controller design method as described in any embodiment of the first aspect of this application.

[0052] A third aspect of this application provides a computer-readable storage medium storing computer-executable signals for performing a controller design method as described in any embodiment of the first aspect of this application. Attached Figure Description

[0053] Additional aspects and advantages of this application will become apparent and readily understood in conjunction with the following description of the embodiments, in which:

[0054] Figure 1 This is a schematic diagram of a bridge crane model provided in an embodiment of this application;

[0055] Figure 2 A flowchart illustrating the controller design method provided in this application embodiment;

[0056] Figure 3 A flowchart illustrating a controller design method provided in another embodiment of this application;

[0057] Figure 4 Performance diagram of ECSMC controller provided in the embodiments of this application;

[0058] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0060] It should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown in the flowchart. The terminology in the specification, claims, and the foregoing drawings is used to distinguish similar objects and is not necessarily used to describe a specific order or sequence.

[0061] In the description of this application, the use of "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0062] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0063] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0064] Below is an explanation of some terms:

[0065] Coupled signal: refers to the signal that couples the trolley displacement and the load swing angle together.

[0066] Matching disturbance: The disturbance experienced by the underactuated bridge crane is directly applied to the trolley.

[0067] Mismatched disturbance: The disturbance experienced by the underactuated bridge crane is directly applied to the load.

[0068] Cranes are a type of multi-degree-of-freedom underactuated electromechanical system widely used in engineering applications. Due to their inherent underactuated nature, bridge cranes are prone to excessive load swaying during operation. Therefore, if the sway angle cannot be controlled, it can damage the load's mass and the surrounding working environment, significantly impacting work quality, efficiency, and safety. Currently, most bridge cranes rely on operators with experience to adjust the crane's speed to minimize the adverse effects of load swaying. However, prolonged manual operation reduces the crane's efficiency and increases safety risks. Therefore, promoting the automation of bridge cranes is urgently needed.

[0069] A bridge crane comprises a trolley, load, controller, and motor. Its working principle is that the controller controls the driving force supplied by the motor to the trolley, thereby controlling the trolley to move the load to the target position. In actual operation, underactuated bridge cranes are always subject to interference from wind and other uncertain factors. This interference affects the movement trajectory of the trolley and load. Furthermore, because only the speed of the trolley can be controlled to suppress the load's swing angle, an extremely complex coupling phenomenon exists between the trolley's movement and the load's sway. This causes the load to also interfere with the trolley. These interferences affect the movement trajectory of the trolley and load (e.g., the trolley cannot reach the target position, or the load cannot de-sway after the trolley reaches the target position). Controllers in related technologies do not consider these interference factors, resulting in poor robustness and transient performance.

[0070] Based on this, this application proposes a controller design method, system, device, and storage medium, which helps to improve the robustness and transient performance of controllers in underactuated electromechanical systems.

[0071] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0072] Reference Figure 1, Figure 1 The schematic diagram of a bridge crane model provided in this embodiment of the invention includes a load and a trolley. The load and the trolley are connected by a suspension rope of length l. The trolley moves linearly along the X-axis under the action of driving force Fa. During the movement of the trolley, the load will swing, and the swing angle of the load is θ. The model parameters of the bridge crane model are shown in Table 1.

[0073] Table 1. Model parameters of bridge crane system

[0074] symbol physical quantity symbol physical quantity M trolley quality x The horizontal displacement of the trolley m Payload quality θ The swing angle of the effective load with respect to the vertical direction l rope length <![CDATA[F a ]]> Horizontal driving force of the trolley <![CDATA[F r ]]> Friction between the trolley and the guide rail d Disturbances received by the trolley

[0075] based on Figure 1 The crane pendulum model satisfies the following dynamic equations:

[0076]

[0077]

[0078] The friction model used in this application is as follows:

[0079]

[0080] The above, f r0 , ε, k r ∈R is the friction parameter, and its accurate value can be approximated through repeated offline experiments.

[0081] From equations (1) and (2), we can obtain:

[0082]

[0083]

[0084] Where u is a designable auxiliary signal, and k1 is an intermediate variable.

[0085] based on Figure 1 , refer to Figure 2 , Figure 2 The flowchart shows a controller design method provided in an embodiment of the present invention, which includes, but is not limited to, the following steps 201 to 204.

[0086] Step 201: Determine the coupling signal based on the coupling relationship between the trolley displacement and the load swing angle;

[0087] Step 202: Determine the spatial state coupling equation between the trolley displacement and the load swing angle based on the coupling signal, the preset ideal trajectory of the trolley, and the matching disturbance experienced by the trolley.

[0088] Step 203: Construct the layered sliding surface based on the spatial state coupling equation and the layered sliding mode control method;

[0089] Step 204: Determine the driving force equation based on the layered sliding surface and the non-negative Lyapunov candidate function. The controller is used to control the magnitude of the driving force of the conveying trolley according to the driving force equation.

[0090] Understandably, this application determines the coupling signal based on the coupling relationship between the trolley displacement and the load swing angle. Based on the coupling signal, the preset ideal trolley trajectory, and the matching disturbance experienced by the trolley, it determines the spatial state coupling equation between the trolley displacement and the load swing angle. Therefore, the spatial state coupling equation of this application considers the strong coupling relationship between the trolley displacement and the load swing angle, as well as the disturbance factors experienced by the trolley. Combined with the layered sliding mode control method, the spatial state coupling equation can be continuously converged towards the ideal trolley trajectory on the layered sliding mode surface, thereby keeping the trolley displacement and load swing angle close to the ideal trajectory. Therefore, under this condition, the driving force equation determined by the non-negative Lyapunov candidate function can also control the trolley displacement and load swing angle to be closer to the ideal trajectory state. Compared with the prior art, the controller designed according to the method of this application outputs driving force while considering the disturbance experienced by the trolley. Therefore, it is less prone to control deviation due to disturbances and has higher robustness and transient performance.

[0091] It should be noted that the controller designed according to this application is less prone to control deviation when the trolley is disturbed. Furthermore, since the coupling relationship between the trolley displacement and the load swing angle is taken into account, it can be understood that the influence of the trolley on the load when the trolley is disturbed is taken into account. Therefore, it helps to better eliminate the swaying of the load caused by the trolley and achieve a better sway reduction effect.

[0092] In one embodiment, the coupling signal includes a first coupling signal representing the trolley displacement and a second coupling signal representing the load swing angle. Step 202: Determine the spatial state coupling equation between the trolley displacement and the load swing angle based on the coupling signal, the preset ideal trajectory of the trolley, and the matching disturbance experienced by the trolley. This includes: determining a first state quantity of the trolley displacement based on the difference between the first coupling signal and the ideal trajectory of the trolley; determining a second state quantity of the load swing angle based on the second coupling signal; and obtaining the spatial state coupling equation based on the first state quantity, the first derivative of the first state quantity, the second state quantity, the first derivative of the second state quantity, and the matching disturbance experienced by the trolley.

[0093] In one embodiment, the first coupling signal is: xg tanθ; the second coupling signal is: g tanθ; and the first state variable is: x1 = xg tanθ - x d The first derivative of the first state variable is: The second state variable is: x3 = g tanθ; the first derivative of the second state variable is: The spatial state coupling equation is:

[0094]

[0095] in,

[0096]

[0097]

[0098]

[0099] In the above, m is the load mass, l is the rope length connecting the load and the trolley, g is the gravitational acceleration, θ is the load swing angle, d is the matching disturbance experienced by the trolley, k is an intermediate parameter, u is an auxiliary signal, and x is the load mass. d Let x be the equation of the ideal trajectory of the trolley. d The following conditions must be met, where k v k a ∈R represents the corresponding upper bound, P d This is the desired position of the trolley.

[0100]

[0101] It should be further noted that, in this application, the load swing angle θ is satisfied in Within the range; the disturbance d satisfies: in, D>0, and represent d(t) and There is an upper bound.

[0102] It needs to be explained that, for the bridge crane system, the control objective is to achieve precise positioning of the trolley while effectively eliminating load sway angle. That is... For the spatial state coupling equation shown in formula (5), the control objective is transformed into [x1,x2,x3,x4]. T →[0,0,0,0]. It is worth noting that in practical applications, considering safety and efficiency, bridge crane systems typically start operating from zero initial conditions, i.e.:

[0103] In one embodiment, the layered sliding surface includes a first sliding surface and a second sliding surface. The first sliding surface includes a first sub-sliding surface and a second sub-sliding surface. Step 203: Constructing the layered sliding surface according to the spatial state coupling equation and the layered sliding control method includes: constructing the first sub-sliding surface according to the first state variable; constructing the second sub-sliding surface according to the second state variable; and constructing the second layered sliding surface according to the first sub-sliding surface and the second sliding surface.

[0104] In one embodiment, the layered sliding surface is represented as follows:

[0105] First sub-sliding surface: s1 = c1x1 + x2; Second sub-sliding surface: s2 = c2x3 + x4;

[0106] Second sliding surface: S=∝s1+s2;

[0107] Where c1, c2, and ∝ are all positive parameters to be determined, and 0 < ∝ < 1.

[0108] It should be explained that, based on the spatial state coupling equation shown in formula (5), a hierarchical sliding mode control strategy is proposed to ensure that the system state reaches the second sliding surface S composed of the first sub-sliding surface s1 and the second sub-sliding surface s2. The sub-sliding surfaces s1 and s2 converge to zero along the second sliding surface, and the final system state is [x1,x2,x3,x4]. T It will converge to zero along the sliding surface, i.e., [x1,x2,x3,x4] T →[0,0,0,0], therefore Satisfy [P] d [,0,0,0] means that the trolley can effectively eliminate the load swing angle while accurately positioning itself.

[0109] In one embodiment, step 204: determining the driving force equation based on the layered sliding surface combined with the non-negative Lyapunov candidate function includes: determining the stability equation based on the second layered sliding surface combined with the non-negative Lyapunov candidate function; obtaining the auxiliary signal based on the derivative of the stability equation and combined with the hyperbolic tangent function; and determining the driving force equation based on the auxiliary signal.

[0110] In one embodiment, the stability equation is:

[0111]

[0112] Differentiating equation (6), we get:

[0113]

[0114] Combining the hyperbolic tangent function,

[0115] It should be added that, Correspondingly, the auxiliary signal u is:

[0116]

[0117] Among them, K Z , Let S be the positive definite controller gain, and tanh(S) be the hyperbolic tangent function of S.

[0118] It should be noted that the hyperbolic tangent function has continuity, which helps to alleviate the chattering phenomenon of the system.

[0119] It is understandable that the driving force equation is shown in formula (4). w can be determined based on u, and the driving force equation can be determined based on w.

[0120] The following is an analysis of the stability of the control designed according to the controller design method of this application:

[0121] Substituting formula (7) into formula (6) and simplifying by differentiation, we get:

[0122]

[0123] Since h(x3) > 0 and 0 < ∝ < 1, therefore we get

[0124]

[0125] Therefore, from equations (8) and (9), we can obtain:

[0126]

[0127] From equation (10), we know that V(t) will not increase with time, and according to the formula obtained by differentiating equation (6), V(0) = 0. Therefore, we can conclude that:

[0128]

[0129] Therefore, the controller of this application can guarantee that the system's state variables are always maintained on the second sliding surface, i.e., lim t→∞ 3 = 0.

[0130] At this point, assuming that the values ​​of s1 and s2 are both nonzero, then we have

[0131]

[0132] because It is uniformly continuous, as can be obtained through Barbarat's lemma. Right now

[0133]

[0134] Substituting formula (7) into formula (11) and rearranging, we get:

[0135]

[0136] It is important to note that This term is undefined when S = 0, so in order to analyze it, we might as well assume that as we approach 0 from the right side of S, i.e., S → 0 + Then the left-hand side of (12) is

[0137]

[0138] Similarly, as S approaches 0 from the left, i.e., S→0 - Then the left-hand side of (12) is

[0139]

[0140] In short, In summary, lim t→∞ S≠0. Therefore, a contradiction exists, and the initial assumption that the values ​​of s1 and s2 are both non-zero is invalid. Therefore, s1 and s2 are both 0. Then, according to the knowledge of linear systems, when s1 and s2 are both 0, the system state variables [x1,x2,x3,x4] are... T All converge to zero, which means that the controller designed in this application can bring the trolley trajectory closer to the ideal trajectory while taking into account the disturbances encountered by the trolley. Therefore, the controller designed according to the design method of this application has high robustness and transient performance.

[0141] The performance diagram of the controller designed according to the design method of this application is as follows: Figure 4 As shown, the ECSMC controller exhibits excellent transient performance. The crane's states x and θ converge quickly to the desired values. More specifically, during the process of the trolley moving from its initial position to the desired position, the maximum swing angle of the load is suppressed to within -1° and 1°. When encountering mismatch disturbances (disturbances acting directly on the load), the system state can also quickly recover to the desired value (within approximately 1 second). This demonstrates the strong robustness of the designed controller.

[0142] A flowchart of the controller design method provided in another embodiment of this application can be seen as follows: Figure 3 As shown.

[0143] In the dynamic model of the bridge crane, considering the coupling signal between the trolley displacement and the load swing angle obtained from the external matching disturbance, and introducing the ideal trajectory of the trolley, a spatial state coupling equation is obtained. This spatial state coupling equation takes into account the strong coupling relationship between the trolley displacement and the load swing angle, and sets a boundary value (d) for the external matching disturbance that satisfies: By combining the layered sliding mode theory, the spatial state coupling equations converge continuously on the layered sliding mode surface, that is, the trolley displacement continuously converges and approaches the ideal trajectory of the trolley. Therefore, it can also drive the load swing angle to converge towards the ideal trajectory. As a result, the resulting layered sliding mode controller is less susceptible to interference and has higher robustness and stability.

[0144] Reference Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. The electronic device 500 includes: a memory 501, a processor 502, and a computer program stored in the memory 501 and executable on the processor 502. When the computer program is executed, it is used to perform the above-described method.

[0145] The processor 502 and the memory 501 can be connected via a bus or other means.

[0146] The memory 501, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs, such as the method described in the embodiments of the present invention. The processor 502 implements the above-described method by running the non-transitory software program and instructions stored in the memory 501.

[0147] Memory 501 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and application programs required for at least one function; the data storage area may store the methods described above. Furthermore, memory 501 may include high-speed random access memory and may also include non-transitory memory, such as at least one storage device, flash memory, or other non-transitory solid-state storage device. In some embodiments, memory 501 may optionally include memory remotely located relative to processor 502, and these remote memories may be connected to the electronic device 500 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0148] The non-transient software program and instructions required to implement the above method are stored in memory 501. When executed by one or more processors 502, the above method is executed.

[0149] This invention also provides a computer-readable storage medium storing computer-executable instructions for performing the above-described method.

[0150] In one embodiment, the computer-readable storage medium stores computer-executable instructions that are executed by one or more control processors to implement the method described above.

[0151] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0152] Those skilled in the art will understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, storage device storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0153] It should also be understood that the various implementation methods provided in the embodiments of the present invention can be combined arbitrarily to achieve different technical effects.

[0154] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A controller design method, characterized in that, include: The coupling signal is determined based on the coupling relationship between the trolley displacement and the load swing angle; Based on the coupling signal, the preset ideal trajectory of the trolley, and the matching disturbance experienced by the trolley, the spatial state coupling equation between the trolley displacement and the load swing angle is determined. Based on the spatial state coupling equation and the layered sliding mode control method, a layered sliding mode surface is constructed. The driving force equation is determined based on the layered sliding surface combined with the non-negative Lyapunov candidate function, and the controller is used to control the magnitude of the driving force of the conveying trolley according to the driving force equation. The coupling signals include a first coupling signal representing the trolley displacement and a second coupling signal representing the load swing angle; determining the spatial state coupling equation between the trolley displacement and the load swing angle based on the coupling signals, a preset ideal trolley trajectory, and the matching disturbance experienced by the trolley includes: The first state quantity of the trolley displacement is determined based on the difference between the first coupling signal and the ideal trajectory of the trolley. The second state quantity of the load swing angle is determined based on the second coupling signal; The first coupling signal is: ; The second coupling signal is: ; The first state variable is: ; The first derivative of the first state variable is: ; The second state variable is: ; The first derivative of the second state variable is: ; The spatial state coupling equation is: in, In the above, m is the load mass, l is the length of the rope connecting the load and the trolley, and g is the acceleration due to gravity. Let be the load swing angle, d be the matching disturbance experienced by the trolley, k be an intermediate parameter, and u be the auxiliary signal. The ideal trajectory equation for the trolley. The following conditions must be met. in, , Indicates the corresponding upper bound, This is the desired position of the trolley.

2. The method according to claim 1, characterized in that, The layered sliding surface includes a first sliding surface and a second sliding surface. The first sliding surface includes a first sub-sliding surface and a second sub-sliding surface. Constructing the layered sliding surface based on the spatial state coupling equation and the layered sliding control method includes: Construct the first sub-sliding surface based on the first state variable; Construct the second sub-sliding surface based on the second state quantity; A second layer of sliding surface is constructed based on the first sub-sliding surface and the second sub-sliding surface.

3. The method according to claim 2, characterized in that, The layered sliding surface is represented as follows: First sub-sliding surface: ; Second layer sliding surface: ; in, All are positive parameters to be determined. .

4. The method according to claim 2, characterized in that, The driving force equation is determined based on the layered sliding surface combined with the non-negative Lyapunov candidate function, including: The stability equation is determined based on the second sliding surface combined with the non-negative Lyapunov candidate function; The auxiliary signal is obtained by taking the derivative of the stability equation and combining it with the hyperbolic tangent function. The driving force equation is determined based on the auxiliary signal.

5. The method according to claim 4, characterized in that, The equation for the steady-state quantity is: ; Correspondingly, the auxiliary signal is: in, For positive definite controller gain, Let be the hyperbolic tangent function with respect to S.

6. The method according to claim 4, characterized in that, The driving force equation is: Where u is the auxiliary signal and M is the trolley mass. The friction between the trolley and the guide rail. Let be an intermediate variable, and d be the matching disturbance experienced by the trolley. The driving force on the trolley.

7. An electronic device, characterized in that, include: At least one memory; At least one processor; At least one program; The program is stored in the memory, and the processor executes at least one of the programs to implement the controller design method as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable signals for performing the design method of the controller as described in any one of claims 1 to 6.

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