一种动梁式龙门双轴不同步因素闭环辨识补偿方法及系统

By identifying the asynchronous factors of the two axes of the moving beam gantry crane through closed-loop control and adaptive law, the problem of system performance degradation caused by synchronization error was solved, achieving efficient and accurate synchronization compensation, and improving system stability and control accuracy.

CN117003127BActive Publication Date: 2026-07-17HUAZHONG UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HUAZHONG UNIV OF SCI & TECH
Filing Date
2023-07-19
Publication Date
2026-07-17

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Abstract

本发明公开了一种动梁式龙门双轴不同步因素闭环辨识补偿方法及系统，属于系统辨识与误差补偿领域，包括：用位移指令对动梁式龙门的双轴进行闭环控制，使龙门在每个运动周期都运行在所允许限幅值内；在每个运动周期内执行以下步骤：S1、判断是否满足辨识终止条件，若是，转入S4；否则，转入S2；S2、用当前运动周期内的同步误差信号计算当前运动周期的自适应参考性能指标；S3、根据自适应律对双轴不同步因素kj、ka分别进行辨识，并根据当前运动周期的辨识结果调整下一个运动周期的同步补偿值，以更新下一个运动周期的同步误差信号；S4、用当前的同步补偿值补偿双轴闭环控制中对应的电流指令。本发明能够提升辨识效率和稳定性，以及同步控制性能。
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