Six-degree-of-freedom tower crane anti-sway control method and system based on sliding mode control

Abstract

The present application relates to tower crane anti-swing motion control technical field, especially a kind of six-degree-of-freedom tower crane anti-swing control method and system based on sliding mode control.The dynamic model of tower crane is constructed based on Lagrange method;The dynamic model of tower crane is linearized in equilibrium position using the constructed tower crane;According to the state information of tower crane, the error signal is selected to design the sub-sliding surface, and the initial control law is designed using the principle of negative rate of Lyapunov function change;Unknown disturbance and model uncertainty are estimated using adaptive algorithm to obtain updated control law;Design total sliding surface and introduce auxiliary function to select appropriate approach law to obtain auxiliary control law;The final control law is obtained by combining the updated control law with the auxiliary control law.The problem that tower crane is easily disturbed in complex environment is effectively solved by constructing hierarchical sliding surface and introducing adaptive algorithm, and the working efficiency and performance of tower crane are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of anti-sway motion control technology for tower cranes, and in particular to an anti-sway control method and system for a six-degree-of-freedom tower crane based on sliding mode control. Background Technology

[0002] As we all know, cranes play an increasingly important role in our daily lives and are used in more and more situations. Due to the complex working environment of cranes, they are frequently affected by various external disturbances and model uncertainties. Ensuring the working efficiency and safety of cranes in complex environments is one of the primary considerations. Therefore, by utilizing a dynamic model of a tower crane, and based on the designed adaptive rate and backstepping layered sliding mode control law, a good control effect for the tower crane can be achieved.

[0003] Traditional crane control methods, such as PID control and LQR control, have some limitations when dealing with crane control problems in complex environments:

[0004] Insufficient adaptability to external disturbances: Traditional control methods are difficult to effectively cope with external disturbances such as wind force and load changes, which can easily lead to increased swing amplitude of the crane, affecting work efficiency and safety.

[0005] Model uncertainty problem: In actual operation, the parameters of the crane (such as mass, friction coefficient, etc.) may deviate from the theoretical model, and traditional control methods are difficult to accurately compensate for these uncertainties.

[0006] Underactuated problem: Tower cranes are typically an underactuated submodule, meaning the number of control inputs is less than the module's degrees of freedom. This presents a challenge for control design, as traditional methods struggle to effectively control all degrees of freedom.

[0007] Nonlinear characteristics: Crane units have strong nonlinear characteristics, and traditional linear control methods have limited effectiveness in dealing with such units.

[0008] Multi-degree-of-freedom coupling problem: There are complex coupling relationships between the various degrees of freedom of a six-degree-of-freedom tower crane, and traditional methods are difficult to simultaneously control multiple degrees of freedom.

[0009] To address these issues, researchers have proposed several improved methods, such as fuzzy control and neural network control. However, these methods still have some shortcomings, such as high computational complexity, insufficient real-time performance, and strong reliance on expert experience.

[0010] Therefore, there is an urgent need for a control method that can effectively cope with complex environments, model uncertainties, and underactuated problems, while also possessing good real-time performance and robustness. This invention proposes a six-degree-of-freedom tower crane anti-sway control method based on sliding mode control. By utilizing the dynamic model of the tower crane and combining adaptive laws and hierarchical sliding mode control, it effectively solves the aforementioned problems. Summary of the Invention

[0011] In view of the problems existing in the prior art, the present invention is proposed.

[0012] Therefore, the problem to be solved by this invention is how to address the various unknown external disturbances and model uncertainties that most cranes are subject to during operation.

[0013] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0014] In a first aspect, embodiments of the present invention provide an anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control, which includes constructing an error signal by subtracting the real-time data of the tower crane from the desired position;

[0015] The method involves first constructing a dynamic model of the tower crane by subtracting its real-time data from the desired position, and then performing linearization processing.

[0016] The dynamic model of the tower crane at the equilibrium position, after linearization, is represented as follows:

[0017]

[0018] in, For the mass of the car, For the mass of the hook, For the quality of the load, The length of the rope between the trolley and the hook. The length of the rope between the hook and the load. Position the car. The angle of rotation of the cantilever. and These are the angles at which the hook is projected onto a vertical plane parallel to the boom and the angles at which it is projected onto a vertical plane perpendicular to the cantilever, respectively. and These are the angles at which the load is projected onto a vertical plane parallel to the boom and the angles at which it is projected onto a vertical plane perpendicular to the cantilever, respectively. The moment of inertia is the direction of rotation. The driving force in the cantilever direction, The disturbance is in the cantilever direction. The driving force for the direction of the car. The disturbance is in the direction of the car;

[0019] Using the error signal, design the corresponding sub-sliding surface and Lyapunov function, and find the control law of the two sub-modules;

[0020] Based on the previous step, an adaptive law is used to estimate the disturbances and uncertainties of the dynamic model unit, and the overall sliding surface is designed to obtain the auxiliary control law.

[0021] To ensure the stability of the submodules, define the overall sliding surface and introduce an auxiliary control law:

[0022]

[0023] in , For the corresponding parameters of the sub-sliding surface, An auxiliary control law was introduced.

[0024] The control laws of the two sub-modules are combined with the auxiliary control laws to obtain the final control law.

[0025] As a preferred embodiment of the anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control described in this invention, the dynamic model unit of the tower crane is divided into a driving sub-module and an underactuated sub-module according to the dynamic model model of the tower crane:

[0026]

[0027] in, The inertia matrix, For the gravity matrix, For input torque,

[0028] This is an unknown disturbance.

[0029] As a preferred embodiment of the anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control described in this invention, the method involves: constructing an error signal by subtracting the real-time data of the tower crane from the expected value, and then designing a corresponding sub-sliding surface.

[0030]

[0031] in, and express and The target location and For auxiliary functions, , , , For parameters, and For the designed sliding surface;

[0032] The preliminary feedback control law based on the sliding surface design is as follows:

[0033]

[0034] in , , , For the corresponding parameters.

[0035] As a preferred embodiment of the anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control described in this invention, wherein: based on the previous step, an adaptive law is used to estimate the disturbances and uncertainties of the dynamic model unit, and an adaptive algorithm is used to further estimate them, defining... , for , The estimated value, with an estimation error of , Define the adaptive law, and from this, obtain the updated control law:

[0036]

[0037] in For adaptive laws, For parameters.

[0038] As a preferred embodiment of the anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control described in this invention, wherein: the method utilizes the total sliding surface and a known control law , Find the auxiliary control law And from this, the final control law is derived:

[0039]

[0040] The crane is analyzed based on adaptive law and layered sliding mode, and compared with the control method of traditional double-swing tower cranes. When the positioning distance and cantilever positioning distance are constant, the angle on the vertical plane parallel to the boom is obtained by coordinate transformation of the coordinate system. , and the angle projected onto a vertical plane perpendicular to the cantilever. , The amplitude is used to determine the effect of the swing angle suppression.

[0041] Secondly, embodiments of the present invention provide an anti-sway control system for a six-degree-of-freedom tower crane based on sliding mode control, which includes...

[0042] Thirdly, embodiments of the present invention provide a computer device, including a memory and a processor, wherein the memory stores a computer program, wherein: when the computer program instructions are executed by the processor, they implement the steps of the anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control as described in the first aspect of the present invention.

[0043] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program instructions are executed by a processor, they implement the steps of the anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control as described in the first aspect of the present invention.

[0044] The beneficial effects of this invention are as follows: The dynamic model unit is divided into two sub-modules for analysis, and the overall control law is designed using the concept of layered sliding mode, achieving control of the underactuated part. Furthermore, an adaptive algorithm is used to eliminate disturbances and the influence of unknowns in the model, ensuring the crane's working efficiency and safety in complex working environments. Attached Figure Description

[0045] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 A flowchart of an anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control;

[0047] Figure 2 A diagram of a computer device for an anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control;

[0048] Figure 3 The structural schematic diagram of a tower crane based on a sliding mode control-based anti-sway control method for a six-degree-of-freedom tower crane is shown.

[0049] Figure 4 This is a flowchart illustrating an anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control.

[0050] Figure 5 The encoder logic diagram of the simulation platform for the anti-sway control method of a six-degree-of-freedom tower crane based on sliding mode control;

[0051] Figure 6 The figure shows the simulation results of the anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control and the traditional LQR control method. Detailed Implementation

[0052] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0053] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0054] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0055] Example 1

[0056] Reference Figures 1-2 This is the first embodiment of the present invention, which provides a method for anti-sway control of a six-degree-of-freedom tower crane based on sliding mode control, including:

[0057] S100: Construct an error signal by subtracting the real-time data of the tower crane from the desired position;

[0058] S101: Construct a dynamic model of a tower crane based on the Lagrange method; the dynamic model of the tower crane is represented as:

[0059]

[0060]

[0061]

[0062] in, For the mass of the car, For the mass of the hook, For the quality of the load, The length of the rope between the trolley and the hook. The length of the rope between the hook and the load. Position the car. Let cos be the cantilever rotation angle. and sin Use respectively and express, and These are the angles at which the hook is projected onto a vertical plane parallel to the boom and the angles at which it is projected onto a vertical plane perpendicular to the cantilever, respectively. and These are the angles at which the load is projected onto a vertical plane parallel to the boom and the angles at which it is projected onto a vertical plane perpendicular to the cantilever, respectively. The moment of inertia is the direction of rotation. The driving force in the cantilever direction, The disturbance is in the cantilever direction. The driving force for the direction of the car. This refers to the disturbance in the direction of the car.

[0063] The established dynamic model of the tower crane takes into account the characteristics of the load such as rotational inertia in actual applications, and its nonlinear characteristics closely match those of actual cranes.

[0064] S102: The constructed dynamic model of the tower crane is linearized at the equilibrium position. The linearized dynamic model of the tower crane at the equilibrium position is represented as follows:

[0065]

[0066] in, For the mass of the car, For the mass of the hook, For the quality of the load, The length of the rope between the trolley and the hook. The length of the rope between the hook and the load. Position the car. The angle of rotation of the cantilever. and These are the angles at which the hook is projected onto a vertical plane parallel to the boom and the angles at which it is projected onto a vertical plane perpendicular to the cantilever, respectively. and These are the angles at which the load is projected onto a vertical plane parallel to the boom and the angles at which it is projected onto a vertical plane perpendicular to the cantilever, respectively. The moment of inertia is the direction of rotation. The driving force in the cantilever direction, The disturbance is in the cantilever direction. The driving force for the direction of the car. This refers to the disturbance in the direction of the car.

[0067] S200: Using the error signal, design the corresponding sub-sliding surface and Lyapunov function, and find the control law of the two sub-modules;

[0068] S201: Based on the aforementioned tower crane dynamic model, its dynamic model unit is divided into a drive submodule and an underactuated submodule:

[0069]

[0070] in, The inertia matrix, For the gravity matrix, For input torque,

[0071] This is an unknown disturbance.

[0072] Preferably, the error signal and sub-sliding surface are defined according to the constructed sub-module form;

[0073] S202: Subtract the real-time state variables of the tower crane model from the expected values ​​to construct an error signal, and then design the corresponding sub-sliding surfaces:

[0074]

[0075] in, and express and The target location and For auxiliary functions, , , , For parameters, and For the designed sliding surface;

[0076] The preliminary feedback control law based on the sliding surface design is as follows:

[0077]

[0078] in , , , For the corresponding parameters.

[0079] S300: Based on the previous step, the adaptive law is used to estimate the disturbance and uncertainty of the dynamic model unit, and the overall sliding surface is designed to obtain the auxiliary control law.

[0080] Preferably, based on the two designed sub-sliding surfaces, the corresponding control laws of the sub-modules are calculated respectively; and the disturbances and model uncertainties are estimated based on the adaptive algorithm.

[0081] Furthermore, the adaptive algorithm estimation process can be expressed as follows:

[0082]

[0083] in , This is an estimated value. , To estimate the error, It is an adaptive law.

[0084] S301: Based on the previous step, using an adaptive law to estimate the perturbations and uncertainties of the dynamic model units, an adaptive algorithm is used to further estimate them, defining... , for , The estimated value, with an estimation error of , Define the adaptive law, and from this, obtain the updated control law:

[0085]

[0086] in For adaptive laws, For parameters.

[0087] S400: Combines the control laws of the two sub-modules with the auxiliary control law to obtain the final control law.

[0088] S401: Based on the determination of the control laws of the two sub-modules;

[0089] To ensure the stability of the submodules, define the overall sliding surface and introduce an auxiliary control law:

[0090]

[0091] in , For the corresponding parameters of the sub-sliding surface, This is an auxiliary control law that is introduced.

[0092] Preferably, the overall sliding surface and auxiliary control law are constructed;

[0093] Furthermore, the overall sliding surface and auxiliary control law are constructed as follows:

[0094]

[0095] in , For the corresponding parameters of the sub-sliding surface, This is an auxiliary control law that is introduced.

[0096] S402: Based on utilizing the total sliding surface and the known control law , Find the auxiliary control law And from this, the final control law is derived:

[0097]

[0098] The crane is analyzed based on adaptive law and layered sliding mode, and compared with the control method of traditional double-swing tower cranes. When the positioning distance and cantilever positioning distance are constant, the angle on the vertical plane parallel to the boom is obtained by coordinate transformation of the coordinate system. , and the angle projected onto a vertical plane perpendicular to the cantilever. , The amplitude is used to determine the effect of the swing angle suppression.

[0099] It should be noted that the control law combining adaptive algorithm and hierarchical sliding mode control effectively eliminates the impact of unknown external disturbances and model uncertainties on the tower crane's operation, ensuring the tower crane's efficiency and safety in complex working environments.

[0100] Furthermore, this embodiment also provides a six-degree-of-freedom tower crane anti-sway control system based on sliding mode control, including:

[0101] The construction module uses the real-time data of the tower crane to calculate the difference between the desired position and the data to construct an error signal; the calculation module uses the error signal to design the corresponding sub-sliding surfaces and Lyapunov functions to calculate the control laws of the two sub-modules.

[0102] The iterative module, based on the previous step, uses an adaptive law to estimate the disturbances and uncertainties of the dynamic model unit and designs the overall sliding surface to obtain the auxiliary control law;

[0103] The output module combines the control laws of the two sub-modules with the auxiliary control laws to obtain the final control law.

[0104] This embodiment also provides a computer device applicable to the anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control, including a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control as proposed in the above embodiment.

[0105] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0106] This embodiment also provides a storage medium storing a computer program that, when executed by a processor, implements the anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control as proposed in the above embodiments.

[0107] In summary, by constructing a dynamic model of a tower crane based on the Lagrange method, an accurate description of the complex six-degree-of-freedom dynamic model unit was achieved. This method considers characteristics such as the rotational inertia of the load in practical applications, making the model closer to the nonlinear characteristics of actual cranes. This provides a reliable theoretical basis for subsequent control design and helps improve control accuracy and the stability of the dynamic model unit.

[0108] By linearizing the dynamic model of the tower crane at its equilibrium position, the complex nonlinear dynamic model unit is simplified. This step reduces the complexity of the controller design while preserving the key dynamic characteristics of the dynamic model unit, making subsequent sliding mode control design more convenient and efficient, and improving the real-time performance of the controller.

[0109] By dividing the dynamic model unit into driven and underactuated submodules and designing corresponding sub-sliding surfaces, effective control of the underactuated submodules was achieved. This hierarchical control strategy not only solves the underactuation problem that is difficult to handle with traditional control methods, but also improves the control accuracy and robustness of the dynamic model unit, making comprehensive control of six-degree-of-freedom tower cranes possible.

[0110] By introducing an adaptive law to estimate the disturbances and uncertainties of the dynamic model unit, real-time compensation for external disturbances and model errors is achieved. This method significantly improves the anti-interference capability and adaptability of the dynamic model unit, enabling the controller to maintain good performance in complex and ever-changing environments, and greatly improving the working efficiency and safety of tower cranes.

[0111] By designing the overall sliding surface and introducing auxiliary control laws, coordinated control of multiple degrees of freedom was achieved. This design not only considers the stability of each sub-module but also takes into account the performance of the overall dynamic model unit, effectively solving the coupling problem between multiple degrees of freedom and improving the overall control effect of the dynamic model unit.

[0112] By combining the control laws of the two sub-modules with auxiliary control laws, the final control law is obtained, achieving unified control of the complex six-degree-of-freedom dynamic model unit. This integrated control strategy ensures the stability of each sub-module while achieving optimized control of the overall dynamic model unit, significantly improving the positioning accuracy and anti-sway effect of the tower crane.

[0113] Experimental results demonstrate that this method exhibits significant advantages in cantilever positioning time, vehicle positioning time, and maximum swing angle at various angles. Particularly noteworthy is its ability to achieve smooth and accurate positioning and effective swing angle suppression even under conditions of unknown external disturbances and model uncertainties—achievements that are difficult to attain with traditional LQR and ESC controllers.

[0114] In summary, the anti-sway control method and system for six-degree-of-freedom tower cranes based on sliding mode control proposed in this invention effectively solves the control challenges of tower cranes in complex environments through innovative control strategy design. It not only overcomes the shortcomings of traditional methods in handling underactuated dynamic model units, nonlinear characteristics, and external disturbances, but also achieves coordinated control of multiple degrees of freedom. This method has achieved significant results in improving control accuracy, enhancing the robustness of dynamic model units, and improving overall performance, providing strong support for the safe and efficient operation of tower cranes in complex working environments, and possesses significant theoretical and practical application value.

[0115] Example 2

[0116] Reference Figures 2-6 This is the second embodiment of the present invention, which provides a six-degree-of-freedom tower crane anti-sway control method based on sliding mode control. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through economic benefit calculation and simulation experiment.

[0117] A tower crane hardware simulation platform was built based on the actual working state of a crane. It consists of a motion control board, an industrial computer, a crane, and a host computer. Combined with the internal logic of the encoder in the simulation platform, such as... Figure 3As shown, the embodiments of the present invention utilize four absolute encoders, including a hook angle encoder 100, a load angle encoder 101, a displacement encoder 102, and a cantilever rotation angle encoder 103, to measure in real time the angle values ​​of the hook and load, the displacement of the trolley and the guide rail, and the rotation angle of the cantilever. For drive units 104 and 105, the present invention uses an absolute encoder that provides feedback on the trolley displacement and an encoder that provides feedback on the cantilever rotation angle.

[0118] The data interaction of the platform is completed by a motion control board 106 and an industrial computer 107. The data measured by the three encoders is input into the motion control board 106, which transmits the data to the industrial computer 107. The MATLAB simulation module on the industrial computer 107 integrates and processes the feedback data with a sampling period of 0.005s to form a real-time control signal. The motion control board 106 feeds back the generated signal to the drive units 104 and 105 to drive the crane to move.

[0119] Parameter settings:

[0120]

[0121] A comparative experiment was conducted using a traditional LQR controller, an ESC controller, and a controller employing this control method. The control formula for the traditional LQR controller is as follows:

[0122]

[0123] in, For parameters, It is an error signal.

[0124] The control formula for the ESC controller is:

[0125]

[0126] in:

[0127]

[0128] It should be noted that, in order to ensure the fairness of the experimental verification, the parameter values ​​adopted by the comparison controller are consistent with the parameter values ​​of the present invention.

[0129] The amplitudes of the methods used in this experiment and those used in the traditional backstepping controller were calculated using the experimental platform constructed above. The comparison results are shown in Table 1:

[0130] Table 1 Comparison of Effects

[0131]

[0132] Simultaneously refer to Figure 6 It can be seen that, under the presence of unknown external disturbances and model uncertainties, traditional LQR controllers and ESC controllers, while achieving positioning, suffer from an uneven positioning process and are prone to overshoot. Furthermore, their ability to suppress the swaying of the four corners is poor, resulting in significant angular sway amplitude. The controller proposed in this invention not only achieves smooth and accurate positioning but also effectively suppresses swaying of the corners.

[0133] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for anti-sway control of a six-degree-of-freedom tower crane based on sliding mode control, characterized in that: include, An error signal is constructed by subtracting the real-time data of the tower crane from the desired position. The method involves first constructing a dynamic model of the tower crane by subtracting its real-time data from the desired position, and then performing linearization processing. The dynamic model of the tower crane at the equilibrium position, after linearization, is represented as follows: ； in, For the mass of the car, For the mass of the hook, For the mass of the load, The length of the rope between the trolley and the hook. The length of the rope between the hook and the load. Position the car. The angle of rotation of the cantilever. and These are the angles at which the hook is projected onto a vertical plane parallel to the boom and the angles at which it is projected onto a vertical plane perpendicular to the cantilever, respectively. and These are the angles at which the load is projected onto a vertical plane parallel to the boom and the angles at which it is projected onto a vertical plane perpendicular to the cantilever, respectively. The moment of inertia is the direction of rotation. The driving force in the cantilever direction, The disturbance is in the cantilever direction. The driving force for the direction of the car. The disturbance is in the direction of the car; Using the error signal, design the corresponding sub-sliding surface and Lyapunov function, and find the control law of the two sub-modules; To ensure the stability of the submodules, define the overall sliding surface and introduce an auxiliary control law: ； in , For the corresponding parameters of the sub-sliding surface, The auxiliary control law is introduced. and For the designed sliding surface; Based on the previous step, an adaptive law is used to estimate the disturbances and uncertainties of the dynamic model unit, and the overall sliding surface is designed to obtain the auxiliary control law. The control laws of the two sub-modules are combined with the auxiliary control laws to obtain the final control law.

2. The anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control as described in claim 1, characterized in that: Based on the dynamic model of the tower crane, its dynamic model unit is divided into a driving submodule and an underactuated submodule: ； in, The inertia matrix, For the gravity matrix, For input torque, This is an unknown disturbance.

3. The anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control as described in claim 2, characterized in that: The method involves subtracting the real-time state parameters of the tower crane from the expected values ​​to construct an error signal, and then designing the corresponding sub-sliding surface. ； in, and express and The target location and For auxiliary functions, , , , For parameters, and For the designed sliding surface; The preliminary feedback control law based on the sliding surface design is as follows: ； in , , , For the corresponding parameters.

4. The anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control as described in claim 3, characterized in that: The previous step involved using an adaptive law to estimate the perturbations and uncertainties of the dynamic model units, followed by further estimation using an adaptive algorithm. This process is defined as follows: , for , The estimated value, with an estimation error of , Define the adaptive law, and from this, obtain the updated control law: ； in For adaptive laws, For parameters.

5. The anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control as described in claim 4, characterized in that: The method is based on utilizing the total sliding surface and known control laws. , Find the auxiliary control law And from this, the final control law is derived: ； The crane is analyzed based on adaptive law and layered sliding mode, and compared with the control method of traditional double-swing tower cranes. When the positioning distance and cantilever positioning distance are constant, the angle on the vertical plane parallel to the boom is obtained by coordinate transformation of the coordinate system. , and the angle projected onto a vertical plane perpendicular to the cantilever. , The amplitude is used to determine the effect of the swing angle suppression.

6. A sway control system for a six-degree-of-freedom tower crane based on sliding mode control, based on the sway control method for a six-degree-of-freedom tower crane based on sliding mode control as described in any one of claims 1 to 5, characterized in that: It also includes, The module constructs an error signal by subtracting the real-time data of the tower crane from the desired position. The calculation module uses the error signal to design the corresponding sub-sliding surfaces and Lyapunov functions, and calculates the control laws of the two sub-modules. The iterative module, based on the previous step, uses an adaptive law to estimate the disturbances and uncertainties of the dynamic model unit and designs the overall sliding surface to obtain the auxiliary control law; The output module combines the control laws of the two sub-modules with the auxiliary control laws to obtain the final control law.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the anti-sway control method for a six-degree-of-freedom tower crane based on sliding mode control as described in any one of claims 1 to 5.

Images