Stable hoisting control method of bridge crane, bridge crane, controller of bridge crane and application of bridge crane

Abstract

The invention discloses a stable hoisting control method of a bridge crane, the bridge crane and a controller and application of the bridge crane. The stable hoisting control method of the bridge crane comprises the following steps: S1, constructing a dynamic model of the bridge crane with a slewing mechanism; and S2, performing energy analysis on the bridge crane based on the kinetic model, selecting a driving degree of freedom and an underactuated degree of freedom for coupling to obtain a coupling error signal, and constructing a nonlinear state enhancement coupling controller according to the coupling error signal. According to the stable hoisting control method for the bridge crane, the bridge crane dynamical model with the slewing mechanism is established, the coupling controller with the enhanced state is obtained based on system energy analysis design, the transient performance and robustness of the bridge crane system are improved through the controller, and the stability of the bridge crane system is improved. Therefore, the swing and rotation phenomena of the bridge crane during transportation of a long-size load are effectively inhibited, and the transportation safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of crane control, and in particular to a stable hoisting control method of a bridge crane, a bridge crane and a controller thereof and applications thereof. Background Art

[0002] Cranes are commonly used in construction sites, warehouses, and ports due to their easy operation and high load-bearing capacity. Given the important value of cranes, scholars have conducted extensive and in-depth research and successfully achieved the control goal of reducing load swing through a series of methods. However, the applicability of these open-loop techniques may be affected in the presence of disturbances and uncertainties. To address this issue, researchers continue to develop various types of closed-loop control algorithms for bridge cranes, which are usually able to achieve asymptotic stability and satisfactory robustness of the closed-loop system.

[0003] However, the above methods cannot strictly guarantee the transient performance of positioning control. Therefore, many researchers are currently studying the trajectory tracking control of bridge cranes. First, by further studying the dynamic equations of the system, the trajectory of the trolley is carefully designed to ensure that key performance indicators such as maximum load swing, time required for stabilization, and the peak speed and acceleration of the trolley are accurately met. Subsequently, a tracking controller is designed to guide the trolley to run along a predetermined path. In addition to model-based techniques, researchers are increasingly interested in applying intelligent control strategies to the operation of bridge cranes, a development that has significant potential for this field.

[0004] Although a lot of research has been done on anti-sway control of bridge cranes, there are still some unresolved issues. For example, existing methods are not sufficient to solve the problem of slewing in addition to swaying when transporting long loads. Some scholars have proposed methods that mainly target the problem of cargo rotation in boom cranes equipped with swivel hooks. However, swivel hook structures are not common in bridge cranes. It is more common to use a slewing mechanism to indirectly control the rotation of cargo, and there are few studies on this specific slewing model. Therefore, the sway and slewing problems that occur when bridge cranes transport long loads have not been solved. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a stable lifting control method for a bridge crane that prevents swaying and slewing, a bridge crane and its controller and application.

[0006] The technical solution adopted by the present invention to solve the technical problem is: to provide a stable lifting control method for a bridge crane, comprising the following steps:

[0007] S1. Constructing a dynamic model of a bridge crane with a slewing mechanism; the bridge crane includes a slewing mechanism, a trolley, a suspension rope and a long-sized load;

[0008] S2. Perform energy analysis on the bridge crane based on the dynamic model, select driven degrees of freedom and under-driven degrees of freedom for coupling, obtain a coupling error signal, and construct a nonlinear state enhanced coupling controller according to the coupling error signal.

[0009] In some embodiments, the dynamic model of the bridge crane satisfies the following formula:

[0010] M s q 2 +C 1 +G=u+f

[0011] Among them, q is the state variable of the bridge crane, q 1 is the first-order derivative of q, q 2 is the second-order derivative of q, q= x is the horizontal displacement of the trolley of the bridge crane, is the rotation angle of the slewing mechanism of the bridge crane, l is the length of the suspension rope of the bridge crane, θ1 is the swing angle of the long load, and θ2 is the rotation angle of the long load;

[0012] M s is the inertia matrix of the bridge crane:

[0013]

[0014] in:

[0015] m 11 =M+m,m 22 =J1+J2,

[0016] m 44 =mh 2 , m 14 =m 41 =mcosθ1h,

[0017] m 25 =m 52 =J2,

[0018]

[0019] M is the mass of the trolley, m is the mass of the long-size load, J1 is the moment of inertia of the slewing mechanism, J2 is the moment of inertia of the long-size load, R is the rotation radius of the long-size load, and h is the height of the long-size load in the vertical direction;

[0020] C is the Coriolis force matrix of the bridge crane:

[0021] in:

[0022]

[0023] is the first-order derivative of θ1, is the first-order derivative of θ2, is the first derivative of l;

[0024] G is the gravity vector of the bridge crane:

[0025]

[0026] Where g is the acceleration due to gravity;

[0027] u is the control input variable of the bridge crane:

[0028]

[0029] Among them, F x The driving force of the trolley of the bridge crane, is the torque of the slewing mechanism of the bridge crane, F l is the traction force on the hoisting rope of the bridge crane;

[0030] f is the resistance encountered by the state quantity of the bridge crane:

[0031]

[0032] Among them, f x , f l , Represents the five states of the bridge crane The resistance exerted on the

[0033] In some embodiments, step S2 includes: selecting a coupling body x and The information of under-actuated degrees of freedom θ1 and θ2 is added to obtain a coupling error signal, and a nonlinear state enhanced coupling controller is constructed according to the coupling error signal.

[0034] In some embodiments, step S2 includes:

[0035] The matrices and state quantities of the dynamic model of the bridge crane are divided as follows:

[0036] q2=[lθ1θ2] T ,

[0037] u2=[F l 0 0] T , q a2 =l,q u =[θ1θ2] T ,

[0038] u a2 =F l ,u a3 =[0 0] T ,G1=[0 0] T ,

[0039]

[0040] Among them, M 11 ,C 11 ∈R 2*2 ,M 12 ,C 12 ∈R 2*3 ,M 21 ,C 21 ∈R 3*2 ,M 22 ,C 22 ∈R 3*3 ,R represents the set of real numbers;

[0041] According to the above division, the following error variables are constructed:

[0042]

[0043] where q a1d ,q a2d ,q ud ,q 2d Represents q a1 ,q a2 ,q u , the expected value of q2, Represents e a1 ,e1,q1,e a2 ,q a2 ,e2,q2,e u ,q u The first derivative of ;

[0044] According to the above error variable design, the following coupling error signal is obtained:

[0045] e α =e a1 -ρ 2 Δ(q1,q2),

[0046] in represents the integration of the integrable part in brackets; ρ(t) is used to adjust the ratio between q1 and q2;

[0047] According to the coupling error signal, the controller is constructed as follows:

[0048]

[0049] in,

[0050]

[0051] k i Where i=1, 2, 3, 4, 5, 6 are positive control gains; τ1, τ2 and k5, k6>0 are control parameters.

[0052] The present invention also provides a controller for a bridge crane, which is obtained by constructing the stable lifting control method for a bridge crane as described in any one of the above items.

[0053] The present invention also provides a bridge crane, comprising the above-mentioned controller.

[0054] In some embodiments, the bridge crane includes a slewing mechanism, a trolley and a suspension rope.

[0055] The invention also provides an application of a bridge crane for hoisting a nuclear power reactor.

[0056] The present invention also provides an application of a bridge crane for hoisting spent fuel of nuclear power plants.

[0057] The beneficial effects of the present invention are as follows: a dynamic model of a five-degree-of-freedom bridge crane with a slewing mechanism is established, and a state-enhanced coupling controller is set based on the energy analysis of the bridge crane system. The transient performance and robustness of the bridge crane system are improved through the controller, thereby effectively suppressing the swaying and slewing phenomena that occur when the bridge crane transports long loads, thereby improving transportation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0059] Figure 1 It is a dynamic model diagram of a simplified structure of a bridge crane in the present invention;

[0060] Figure 2 yes Figure 1 A top view of

[0061] Figure 3It is a comparison chart of transient test results of a stable hoisting control method of a bridge crane according to an embodiment of the present invention and two control methods in the prior art;

[0062] Figure 4 It is a comparison diagram of robustness test results of a stable hoisting control method for a bridge crane according to an embodiment of the present invention and two control methods in the prior art under an initial state;

[0063] Figure 5 It is a comparison chart of robustness test results of a stable hoisting control method for a bridge crane according to an embodiment of the present invention and two control methods in the prior art after additional disturbances are applied after the system reaches a stable state. DETAILED DESCRIPTION

[0064] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0065] A stable lifting control method for a bridge crane according to an embodiment of the present invention comprises the following steps:

[0066] S1. Construct a dynamic model of a bridge crane with a slewing mechanism.

[0067] Among them, the bridge crane is a crane of the prior art. In the present invention, the dynamic model is constructed based on the bridge crane including a slewing mechanism, a trolley, a sling and a long-sized load. A motor is installed on the slewing mechanism, which can provide a degree of freedom of rotation and indirectly inhibit the rotation of the long-sized load. The trolley can move in the horizontal direction, and the sling is connected between the trolley and the long-sized load, which can lift or lower the long-sized load in the vertical direction.

[0068] The simplified dynamic model of the bridge crane is as follows: Figure 1 and Figure 2 As shown, the physical quantities corresponding to each structure are marked in the figure, including the length of the suspension rope l, the swing angle θ1 of the long-size load, the rotation angle θ2 of the long-size load, the horizontal displacement x of the trolley, the rotation radius R of the long-size load, the height h of the long-size load in the vertical direction, and the rotation angle of the slewing mechanism. wait.

[0069] In one embodiment, the dynamic model of the bridge crane is established using the Lagrangian method, and the established dynamic model of the bridge crane satisfies the following formula:

[0070] M s q 2 +C 1 +G=u+f

[0071] Among them, q is the state variable of the bridge crane, q 1is the first-order derivative of q, q 2 is the second-order derivative of q, q= x is the horizontal displacement of the trolley of the bridge crane, is the rotation angle of the slewing mechanism of the bridge crane, l is the length of the suspension rope of the bridge crane, θ1 is the swing angle of the long load, and θ2 is the rotation angle of the long load.

[0072] M s is the inertia matrix of the bridge crane:

[0073]

[0074] in:

[0075] m 11 =M+m,m 22 =J1+J2,

[0076] m 44 =mh 2 , m 14 =m 41 =mcosθ1h,

[0077] m 25 =m 52 =J2,

[0078]

[0079] M is the mass of the trolley, m is the mass of the long load, J1 is the moment of inertia of the slewing mechanism, J2 is the moment of inertia of the long load, R is the rotation radius of the long load, h is the height of the long load in the vertical direction, and the other variables are as described above.

[0080] C is the Coriolis force matrix of the bridge crane:

[0081]

[0082] in, is the first-order derivative of θ1, is the first-order derivative of θ2, is the first derivative of l.

[0083] G is the gravity vector of the bridge crane:

[0084]

[0085] Where g is the acceleration due to gravity.

[0086] u is the control input variable of the bridge crane:

[0087]

[0088] Among them, F x The driving force of the trolley of the bridge crane, is the torque of the slewing mechanism of the bridge crane, F l It is the traction force on the suspension rope of the bridge crane.

[0089] f is the resistance encountered by the bridge crane system state quantity:

[0090]

[0091] Among them, f x , f l , Represents the five states of the bridge crane The resistance exerted on the

[0092] S2. Perform energy analysis on the bridge crane based on the dynamic model, select appropriate driven degrees of freedom and under-driven degrees of freedom for coupling, obtain the coupling error signal, and construct a nonlinear state enhanced coupling controller based on the coupling error signal to ensure the transient performance of the bridge crane system.

[0093] Among them, from the energy analysis of the bridge crane, it is concluded that the swing and rotation of the long load can be effectively eliminated by controlling the trolley and the slewing mechanism, while the lifting and lowering movement of the rope is difficult to suppress the swing and rotation of the long load. Based on this, a state enhancement coupling controller is constructed to add the information of the under-actuated degrees of freedom to the appropriate driven degrees of freedom, thereby greatly improving the transient performance and robustness of the bridge crane.

[0094] For a suitable actuated degree of freedom, it is the actuated degree of freedom that is most closely related to the underactuated degree of freedom (that has an impact on the underactuated degree of freedom).

[0095] In one embodiment, firstly, the coupling body x and The information of under-actuated degrees of freedom θ1 and θ2 is added to obtain a coupling error signal, and a controller is designed according to the coupling error signal to obtain a nonlinear state enhanced coupling controller.

[0096] It is worth mentioning that the form of the controller is similar to PD control, but with adjustable time-varying gain, thus ensuring the excellent transient performance of the bridge crane system, that is, it can quickly reach the desired position and posture while quickly eliminating the swing and rotation of long loads.

[0097] Specifically, step S2 includes:

[0098] The matrices and state quantities of the dynamic model of the bridge crane are divided as follows:

[0099] q2=[lθ1θ2] T ,

[0100] u2=[F l 0 0] T , q a2 =l,q u =[θ1θ2] T ,

[0101] u a2 =F l ,u a3 =[0 0] T ,G1=[0 0] T ,

[0102]

[0103] Among them, M 11 ,C 11 ∈R 2*2 ,M 12 ,C 12 ∈R 2*3 ,M 21 ,C 21 ∈R 3*2 ,M 22 ,C 22 ∈R 3*3 ,R represents the set of real numbers;

[0104] According to the above division, the following error variables are constructed:

[0105] e a1 =e1=q a1 -q a1d ,e a2 =q a2 -q a2d ,

[0106] e u =e u =q u -q ud ,e2=q2-q 2d ,

[0107]

[0108] where q a1d ,q a2d ,q ud ,q2d Represents q a1 ,q a2 ,q u , the expected value of q2, Represents e a1 ,e1,q1,e a2 ,q a2 ,e2,q2,e u ,q u The first derivative of .

[0109] According to the above error variable design, the following coupling error signal is obtained:

[0110] e α =e a1 -ρ 2 Δ(q1,q2),

[0111] in represents the integration of the integrable part in brackets; ρ(t) is used to adjust the ratio between q1 and q2;

[0112] According to the coupling error signal, the controller is constructed as follows:

[0113]

[0114] in,

[0115]

[0116] k i ,i=1,2,3,4,5,6 are positive control gains; τ1,τ2 and k5,k6>0 are control parameters determined according to actual conditions.

[0117] The controller obtained above is a nonlinear state enhanced coupling controller with a time-varying adaptive coupling gain. It is used in bridge cranes to improve the transient performance and robustness of the bridge crane system and effectively suppress the swaying and rotation of the bridge crane when transporting long loads.

[0118] Furthermore, the stability of the bridge crane stable hoisting control method of the present invention is analyzed and verified. Using the Lyapunov method, it is proved that the proposed control method is asymptotically stable.

[0119] First, construct the Lyapunov function as follows:

[0120]

[0121] in

[0122] First we need to prove that V ≥ 0, and obviously l ≥ h, because Therefore, mgl-mghcosθ1≥0.

[0123] In addition, since it is known that M and are all positive definite matrices, and k1, k3, k5, k6, ∑ are all positive numbers, so it can be concluded that V ≥ 0.

[0124] Second, calculate the derivative of V have:

[0125]

[0126] Substituting the controller into the above equation, we get the following expression:

[0127]

[0128] The derivatives of ∏(t) and ρ(t) have the following properties:

[0129]

[0130] Will Simplified to

[0131] Obviously, the direction of the resistance f is always related to the first-order derivative q of the state quantity. 1 is in the opposite direction, so

[0132] Figures 3 to 5 The comparison results of the state quantity of the present invention (the proposed method represented by the red line in the figure) with the MPC control method and the LQR control method in the simulation environment are shown.

[0133] Figure 3 is the transient performance test result, Figure 3 Middle: Control target is x=5m, l=5m,θ1=θ2=0;and the initial state is x(0)=0, l(0)=15m,θ1=θ2=0.

[0134] Figure 4 and Figure 5 is the robustness test result. Figure 4 Chinese: Control target is the same as Figure 3 Compared with the original state, it has not changed, but the initial state has changed to x(0)=0. l(0)=15m, θ1=θ2=10°. Figure 5 Middle: Control target and initial state are the same Figure 3 Compared with the original load, there is no change, but when the system is stable, a step disturbance with an amplitude of 10000N is applied at 13.5s.

[0135] Depend on Figure 3-Figure 5 From the comparison of the curves, it can be seen that the control method of the present invention can significantly improve the transient performance and robustness of the bridge crane.

[0136] In summary, the present invention first establishes a dynamic model of a five-degree-of-freedom bridge crane with a slewing mechanism, and further designs a state-enhanced coupling controller to couple the under-driven degrees of freedom and the driven degrees of freedom, and designs a time-varying adaptive gain. The uncertainty of the dynamic model of the bridge crane is compensated by utilizing the input and output errors of the system and the derivatives of the errors in combination with the designed adaptive neural network. The dynamic model of the bridge crane with a slewing mechanism of the present invention is very common in actual working conditions, and therefore has a high application value. In addition, the nonlinear state-enhanced coupling controller constructed based on energy analysis adds appropriate information related to the undriven state to the controller to enhance the state coupling of the bridge crane system. In this way, the closed-loop system responds to the undriven state more promptly and efficiently, thereby ensuring the transient performance and robustness of the bridge crane system. The structure of the controller is relatively simple and convenient for practical application.

[0137] The stable lifting control method of the bridge crane of the present invention not only realizes stable lifting, but also constructs a controller of the bridge crane, and improves the transient performance and robustness of the bridge crane system through the constructed controller, thereby effectively suppressing the swing and rotation phenomenon of the bridge crane when transporting long loads. The long load is the lifting target of the bridge crane, and its length is preferably equivalent to or greater than the diameter of the slewing mechanism.

[0138] The present invention is not only applicable to occasions such as construction sites, warehouses and ports, but also applicable to the nuclear power field, and further applicable to the lifting of nuclear power reactors including small reactors and the lifting of spent fuel in large reactors (pressurized water reactors, etc.).

[0139] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A stable lifting control method for a bridge crane, characterized in that: The following steps are involved: S1. Constructing a dynamic model of a bridge crane with a slewing mechanism; the bridge crane includes a slewing mechanism, a trolley, a suspension rope and a long load; S2. Perform energy analysis on the bridge crane based on the dynamic model, select driven degrees of freedom and under-driven degrees of freedom for coupling, obtain a coupling error signal, and construct a nonlinear state enhanced coupling controller according to the coupling error signal.

2. The stable lifting control method of a bridge crane according to claim 1, characterized in that: The dynamic model of the bridge crane satisfies the following formula: M s q 2 +Cq 1 +G=u+f Among them, q is the state variable of the bridge crane, q 1 is the first-order derivative of q, q 2 is the second-order derivative of q, x is the horizontal displacement of the trolley of the bridge crane, is the rotation angle of the slewing mechanism of the bridge crane, l is the length of the suspension rope of the bridge crane, θ1 is the swing angle of the long load, and θ2 is the rotation angle of the long load; M s is the inertia matrix of the bridge crane: in: m 11 =M+m,m 22 =J1+J2, m 44 =mh 2 , m 14 =m 41 =mcosθ1h, m 25 =m 52 =J2, M is the mass of the trolley, m is the mass of the long-size load, J1 is the moment of inertia of the slewing mechanism, J2 is the moment of inertia of the long-size load, R is the rotation radius of the long-size load, and h is the height of the long-size load in the vertical direction; C is the Coriolis force matrix of the bridge crane: in: is the first-order derivative of θ1, is the first-order derivative of θ2, is the first derivative of l; G is the gravity vector of the bridge crane: Where g is the acceleration due to gravity; u is the control input variable of the bridge crane: Among them, F x The driving force of the trolley of the bridge crane, is the torque of the slewing mechanism of the bridge crane, F l is the traction force on the hoisting rope of the bridge crane; f is the resistance encountered by the state quantity of the bridge crane: Among them, f x , f l , Represents the five states of the bridge crane The resistance exerted on the 3. The stable lifting control method of a bridge crane according to claim 2, characterized in that: Step S2 includes: selecting a coupling body x and The information of under-actuated degrees of freedom θ1 and θ2 is added to obtain a coupling error signal, and a nonlinear state enhanced coupling controller is constructed according to the coupling error signal.

4. The stable lifting control method of a bridge crane according to claim 3, characterized in that: Step S2 includes: The matrices and state quantities of the dynamic model of the bridge crane are divided as follows: q2=[lθ1θ2] T , u2=[F l 0 0] T , q a2 =l,q u =[θ1θ2] T , you a2 =F l ,u a3 =[0 0] T ,G1=[0 0] T , Among them, M 11 ,C 11 ∈R 2*2 ,M 12 ,C 12 ∈R 2*3 ,M 21 ,C 21 ∈R 3*2 ,M 22 ,C 22 ∈R 3*3 ,R represents the set of real numbers; According to the above division, the following error variables are constructed: from a1 =e1=q a1 -q a1d ,and a2 =q a2 -q a2d , e u =e u =q u -q ud ,e2=q2-q 2d , where q a1d ,q a2d ,q ud ,q 2d Represents q a1 ,q a2 ,q u , the expected value of q2, Represents e a1 ,e1,q1,e a2 ,q a2 ,e2,q2,e u ,q u The first derivative of ; According to the above error variable design, the following coupling error signal is obtained: and α =e a1 -ρ 2 Δ(q1,q2), in represents the integration of the integrable part in brackets; ρ(t) is used to adjust the ratio between q1 and q2; According to the coupling error signal, the controller is constructed as follows: in, k i Where i=1, 2, 3, 4, 5, 6 are positive control gains; τ1, τ2 and k5, k6>0 are control parameters.

5. A controller for a bridge crane, characterized in that: The method is obtained by constructing the stable lifting control method of a bridge crane as described in any one of claims 1-4.

6. A bridge crane, characterized in that: Includes the controller described in claim 5.

7. The bridge crane according to claim 6, characterized in that: It also includes a slewing mechanism, a trolley and a lifting rope.

8. An application of the bridge crane according to claim 6 or 7, characterized in that: Used for lifting nuclear power reactors.

9. An application of the bridge crane according to claim 6 or 7, characterized in that: Used for lifting spent fuel of nuclear power plants.

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