Method for estimating delay state of winding type lifting system

Abstract

The invention relates to the technical field of operation state evaluation of a winding type lifting system, and discloses a winding type lifting system delay state estimation method comprising the following steps: building a coordinate system for a winding type lifting system, and obtaining basic parameters of the winding type lifting system; based on the Hamilton principle, a kinetic model of the winding type lifting system is established according to the basic parameters; generating a boundary state delay system model according to the dynamic model and preset delay; designing and solving a state observer and a delay observer according to the boundary state delay system model; the state observer is used for evaluating the motion state of the current time-delay winding type lifting system, and the time-delay observer is used for evaluating the current time delay. The synchronous observation of time delay and feedback state quantity is realized by designing the time delay observer and the state observer, so that the time delay of a signal and the motion state of the winding type lifting system are accurately obtained, the control precision of the winding type lifting system is favorably improved, and a lifting container runs at a precise speed and a stable posture.

Description

Technical Field

[0001] The present application relates to the technical field of operating status evaluation of a winding type lifting system, for example, to a delayed state estimation method for a winding type lifting system. Background Art

[0002] The winding lifting system is a highly efficient material and personnel conveying equipment. Its unique working principle and design make it widely used in many industrial fields. For example, the winding lifting system can be seen in the construction industry, mining industry, metallurgical industry and some other industrial fields.

[0003] Although the winding lifting system is widely used, as people have higher requirements for the performance and safety of the equipment, the problems of wire rope tension oscillation and lifting container vibration during operation are more prominent. These problems not only affect the smooth operation of the lifting system, but also are a hidden danger to the safety of the equipment. In order to better suppress the occurrence of these problems, a better method is to control the operation of the lifting system through an algorithm with better performance, so that the container can run at a more precise speed and a more stable posture. In order to ensure the control accuracy of the algorithm, real-time and accurate feedback signals are an indispensable prerequisite. However, the common lifting system has a lifting height of tens of meters or even hundreds of meters, and the signal that truly reflects the operating status of the system needs to be measured by sensors arranged on the lifting container. For ultra-long variable distance signal transmission, wireless transmission is a better solution, but wireless transmission has the problems of susceptibility to interference and large delay, which is another challenge for ensuring the accuracy of the signal and improving the control accuracy of the system. Therefore, the present invention designs a delay state online estimation method for the more important container vibration signal in the winding lifting system.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0006] The embodiment of the present disclosure provides a delayed state estimation method for a winding lifting system, comprising:

[0007] Establish a coordinate system for the winding lifting system and obtain basic parameters of the winding lifting system;

[0008] Based on Hamilton's principle, a dynamic model of the winding lifting system is established according to the basic parameters;

[0009] Generate a boundary state delay system model according to the dynamic model and the preset delay;

[0010] Designing a state observer and a delay observer according to the boundary state delay system model and solving them;

[0011] The state observer is used to evaluate the motion state of the current delayed winding lifting system, and the delay observer is used to evaluate the current delay.

[0012] In one embodiment, the basic parameters include the total lifting height of the system, the lifting speed, the lifting acceleration, the lifting rope length, and the longitudinal vibration displacement, dynamic tension, quasi-static tension and elastic force of a certain particle located at the vertical lifting rope spatial position x at time t; the dynamic model of the winding lifting system calculated according to the basic parameters based on the Hamilton principle includes:

[0013] Obtain the mass of the lifting container and the total mass of the floating sheave and the hydraulic cylinder piston rod in the winding lifting system;

[0014] The total kinetic energy of the winding lifting system is calculated based on the mass of the lifting container, the total mass of the floating sheave and the hydraulic cylinder piston rod, the lifting speed, the lifting rope length, and the longitudinal vibration displacement;

[0015] The total potential energy of the winding lifting system is calculated based on the mass of the lifting container, the total mass of the floating sheave and the piston rod of the hydraulic cylinder, the longitudinal vibration displacement, the quasi-static tension, and the elastic force;

[0016] Calculate the virtual work of the winding lifting system based on the lifting speed, longitudinal vibration displacement and the preset damping coefficient;

[0017] The dynamic model of the winding lifting system is calculated based on the total kinetic energy, total potential energy and virtual work.

[0018] In one embodiment, generating a boundary state delay system model according to the dynamic model and the preset delay includes:

[0019] The dynamic model of the lifting container end of the winding lifting system is matrixed to generate the boundary equations of the container end;

[0020] The boundary state delay system model is calculated based on the boundary equation of the container end and the preset delay.

[0021] In one embodiment, designing and solving a state observer and a delay observer according to the boundary state delay system model includes:

[0022] Design state observer and delay observer according to boundary state delay system model;

[0023] According to the boundary state delay system model, the sensitivity function of the observed state quantity relative to the delay estimation is constructed;

[0024] Solving the sensitivity function leads to solving the state observer and the delay observer.

[0025] In one embodiment, after designing and solving the state observer and the delay observer according to the boundary state delay system model, the method further includes: proving the asymptotic stability of the state observation error and the delay observation error based on the Lyapunov-Razumikhin theory.

[0026] The embodiment of the present disclosure provides a delayed state estimation method for a winding lifting system, which can achieve the following technical effects:

[0027] By designing a delay observer and a state observer, the synchronous observation of the delay and feedback state quantities can be realized, so as to accurately obtain the signal delay and the motion state of the winding lifting system, which helps to improve the control accuracy of the winding lifting system and allow the lifting container to run at a precise speed and a stable posture.

[0028] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0030] Figure 1 It is a schematic diagram of a delayed state estimation method for a winding lifting system provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0032] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0033] Unless otherwise stated, the term "plurality" means two or more.

[0034] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0035] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0036] The term "correspondence" may refer to an association relationship or a binding relationship. The correspondence between A and B means that there is an association relationship or a binding relationship between A and B.

[0037] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0038] Combination Figure 1 As shown, the embodiment of the present disclosure provides a delayed state estimation method for a winding lifting system, comprising:

[0039] S101, establishing a coordinate system for the winding type lifting system and obtaining basic parameters of the winding type lifting system.

[0040] S102, based on Hamilton's principle, a dynamic model of the winding lifting system is established according to basic parameters.

[0041] S103, generating a boundary state delay system model according to the dynamic model and the preset delay.

[0042] S104, designing a state observer and a delay observer according to the boundary state delay system model and solving them.

[0043] S105, using a state observer to evaluate the motion state of the current delayed winding lifting system and using a delay observer to evaluate the current delay.

[0044] By designing a delay observer and a state observer, the synchronous observation of the delay and feedback state quantities can be realized, so as to accurately obtain the signal delay and the motion state of the winding lifting system, which helps to improve the control accuracy of the winding lifting system and allow the lifting container to run at a precise speed and a stable posture.

[0045] In one embodiment, the basic parameters include the total lifting height of the system, the lifting speed, the lifting acceleration, the lifting rope length, and the longitudinal vibration displacement, dynamic tension, quasi-static tension and elastic force of a certain particle located at the vertical lifting rope spatial position x at time t; the dynamic model of the winding lifting system is calculated according to the basic parameters based on the Hamilton principle, including:

[0046] Obtain the mass of the lifting container and the total mass of the floating sheave and the hydraulic cylinder piston rod in the winding lifting system;

[0047] The total kinetic energy of the winding lifting system is calculated based on the mass of the lifting container, the total mass of the floating sheave and the hydraulic cylinder piston rod, the lifting speed, the lifting rope length, and the longitudinal vibration displacement;

[0048] The total potential energy of the winding lifting system is calculated based on the mass of the lifting container, the total mass of the floating sheave and the piston rod of the hydraulic cylinder, the longitudinal vibration displacement, the quasi-static tension, and the elastic force;

[0049] Calculate the virtual work of the winding lifting system based on the lifting speed, longitudinal vibration displacement and the preset damping coefficient;

[0050] The dynamic model of the winding lifting system is calculated based on the total kinetic energy, total potential energy and virtual work.

[0051] Specifically, in a winding lifting system, the length of the chord is usually much smaller than that of the vertical rope, and its influence on the overall dynamic analysis of the system is also small. Therefore, only the vertical lifting part, including the sheave, vertical rope and lifting container, is considered for system modeling. When the constraint of the tank channel on the lifting container is strong enough, it can be considered that the container always maintains horizontal lifting motion.

[0052] To simplify the expression, the derivative with respect to time and space is defined as

[0053] In order to establish the lifting system ontology dynamics model, firstly, it is assumed that the system satisfies the following conditions:

[0054] 1) The lifting wire rope is a homogeneous wire rope, that is, the linear density of the wire rope is always equal and unchanged.

[0055] 2) The deformation and tension of the lifting wire rope obey Hooke's law.

[0056] 3) The contact points between the crown sheave and the steel wire rope as well as the steel wire rope and the lifting container always maintain close contact, that is, at each contact point, the vibrations of both parties are the same.

[0057] During the entire lifting process, due to the restraint of the tank channel on the lifting container, the longitudinal vibration of the lifting wire rope is much larger than the lateral vibration, while the lifting container mainly considers the longitudinal vibration caused by the vibration of the wire rope. Therefore, in order to facilitate the design of the controller and stability analysis, the lifting system model is reasonably simplified, that is, only the longitudinal vibration of the system is considered.

[0058] During operation, the lifting system not only has macroscopic lifting and lowering motion, but also the main components are vibrating at the same time. In order to describe these two motions in detail, a fixed coordinate system 0XY and a follower coordinate system 0xy are established respectively. The total lifting height of the system is defined as L, the lifting speed is v(t), the lifting acceleration is a(t), and the lifting wire rope length is l(t). At time t, the longitudinal vibration displacement of a particle at the spatial position x of the vertical lifting wire rope is u(x,t). The dynamic tension F at this point d (x, t) is the sum of the quasi-static tension T(x, t) and the elastic force EAε(x, t) at that point, that is, F d (x, t) = T(x, t) + EAε(x, t), where EA is the tensile stiffness of the wire rope, N / m; ε(x, t) is the positive strain of the wire rope at the spatial position x and the time t. The expression of ε(x, t) is defined as ε(x, t) = u′(x, t).

[0059] Based on Hamilton's principle, the dynamic model of the system was established by considering only the longitudinal vibration of the winding lifting system.

[0060] Considering the kinetic energy of the wire rope, lifting container and floating sheave, the total kinetic energy of the system can be expressed as:

[0061]

[0062] in, m T is the mass of the floating sheave and the hydraulic cylinder piston rod; ma is the mass of the lifting container.

[0063] Considering the elastic potential energy of the wire rope, the gravitational potential energy of the wire rope, the lifting container and the floating sheave, the total potential energy of the system can be expressed as:

[0064]

[0065] Considering the damping of the wire rope, floating sheave and lifting container, and the active work done by the floating sheave on the wire rope, the virtual work of the system can be expressed as:

[0066]

[0067] Among them, c r To increase the damping coefficient of the wire rope, cc is the damping coefficient at the lifting container; c s is the damping coefficient at the sheave; F(t) is the exciting force applied to the wire rope by the hydraulic actuator.

[0068] By combining formulas (1) to (3), using the variational theory and the integration by parts algorithm, the vibration equation for controlling the longitudinal vibration of the lifting wire rope and its boundary conditions can be obtained as follows:

[0069]

[0070] Because: T(x,t)=[m a / 2+ρ(lx)]g,T(l,t)=m a g / 2, T(0,t)=(m a / 2+ρl)g, T′=-ρg.

[0071] Then, the dynamic model of the winding lifting system can be rewritten as:

[0072]

[0073] In one embodiment, a boundary state delay system model is generated according to a dynamic model and a preset delay, including:

[0074] The dynamic model of the lifting container end of the winding lifting system is matrixed to generate the boundary equations of the container end;

[0075] The boundary state delay system model is calculated based on the boundary equation of the container end and the preset delay.

[0076] Specifically, combining the system state equations (7)-(9), it can be found that the delayed feedback signals in the lifting system all appear in the boundary state equation at the lifting container. In order to facilitate the design of the delay compensation observer in the following text, the boundary state equation at the lifting container end is appropriately transformed. Define the variables x1 and x2 as:

[0077] x1(t)=u(l,t) (10)

[0078]

[0079] Define the new state variable as x(t)=[x1 x2] Τ , then the boundary equation at the container end can be rewritten as:

[0080]

[0081] in,

[0082]

[0083]

[0084] For a certain wireless sensor network, its delay is usually a constant value. In order to increase the applicability of the designed delay compensation state observer, in the present invention, it is assumed that the delay of the feedback signal is an unknown constant value, and Δ>0 represents the delay boundary.

[0085] Then the boundary state delay system model can be written as:

[0086]

[0087] y(t)=Cx(t-τ) t≥0 (17)

[0088] x(-Δ)=x Δ (18)

[0089] in, C=[1 0], τ represents the real feedback delay of the system, and 0≤τ≤Δ.

[0090] In one embodiment, a state observer and a delay observer are designed and solved according to a boundary state delay system model, including:

[0091] Design state observer and delay observer according to boundary state delay system model;

[0092] According to the boundary state delay system model, the sensitivity function of the observed state quantity relative to the delay estimation is constructed;

[0093] Solving the sensitivity function leads to solving the state observer and the delay observer.

[0094] Specifically, Assumption 1: In the time-delay system (16)-(18), the function φ(u′(l,t),v(t)) is a globally consistent Lipschitz function with respect to u′(l,t), then there exists a coefficient γ φ , so that for There are: φ(u′1(l,t),v(t))-φ(u′2(l,t),v(t))|≤γ φ |v(t)||u′1(l,t)-u′2(l,t)|.

[0095] Based on the delayed system model of the boundary state of the lifting system, the following state observer is designed:

[0096]

[0097] in, is the feedback state observation error, K is the gain vector, α>0 is a scalar parameter, is an estimate of the system delay.

[0098] At the same time, for the unknown delay of the system, the following delay observer is designed:

[0099]

[0100] in, t≥Δ, t∈[0,Δ].

[0101] Among them, κ>0 is a scalar parameter, is the sensitivity function of the feedback state observation error with respect to the delay estimate.

[0102] In order to solve the system state observer and delay observer, it is necessary to calculate the sensitivity To this end, we introduce the sensitivity function of the observed state quantity relative to the delay estimate:

[0103]

[0104] Combining equations (17), (20) and the definition of state observation error, we can obtain:

[0105]

[0106] Therefore, the sensitivity The solution of is transformed into the solution The delay value. However, the sensitivity It cannot be directly obtained through formula (23). By taking the derivative of formula (23) and combining it with formula (19), we can get:

[0107]

[0108] Sensitivity It can be obtained by integrating equation (25) in the range of t ≥ Δ. The initial condition is t∈[0,Δ]. Thus, the solution of the system state observer and delay observer is also realized.

[0109] In one embodiment, after designing and solving the state observer and the delay observer according to the boundary state delay system model, the method further includes: proving the asymptotic stability of the state observation error and the delay observation error based on the Lyapunov-Razumikhin theory.

[0110] Specifically, proving the asymptotic stability of the delay observer includes the following steps:

[0111] The delayed observation error is defined as:

[0112]

[0113] At the same time, you can get:

[0114]

[0115] Combining equations (17) and (20), the feedback state observation error ω0(t) can be rewritten as:

[0116]

[0117] in: is the estimated error of the state observation under the real delay. Because this observer uses real delay data, there is a sufficient condition to ensure that It decreases exponentially. That is, for the estimation error of state observation under real delay, it satisfies:

[0118]

[0119] in, The above conclusions show that there is a delay bound Δ * , for any constant or varying measurement delay τ(t)<Δ * ,when When the estimated error of the state observer decays at a rate The exponential converges to 0. That is, for a given Δ * , there is a maximum Ensure global stability and vice versa.

[0120] From equation (28), we can see that the feedback state observation error ω0(t) contains two terms. The first term has given the amplitude range. For the second term, the following equation holds:

[0121]

[0122] in, ξ∈[0,1].

[0123] because: Combination Then we have:

[0124]

[0125] definition:

[0126]

[0127] Then the feedback state observation error ω0(t) can be re-expressed as:

[0128]

[0129] Assumption 2: There exist K and So that the corresponding Δ * Satisfy Δ * ≥Δ.

[0130] Assumption 3: For all σ,t≥0, there exists So that:

[0131]

[0132] If Assumption 2 is satisfied, then Equation (29) is And all τ∈[0,Δ] hold. In addition, Equation (33) shows that when When, that is Yes τ (t) and The exponential converges to 0.

[0133] Obviously, Assumption 3 is a technical assumption to ensure The exponential converges to 0. At the same time, if the feedback state observation error ω0(t) is relative to the delay estimate The derivative of is not slowly time-varying, that is, If it is not 0, then hypothesis 3 is valid.

[0134] In the delay interval [0,Δ * ], it can be proved that Assumptions 2 and 3 are sufficient conditions for delay identifiability.

[0135] Therefore, we can get the following theorem about the delay estimation error:

[0136] Theorem 1: If the system (16)-(18) satisfies Assumptions 1, 2 and 3, then the delay estimation error The index is stable, with a coefficient of That is to say, there is So that:

[0137]

[0138] Proof: Substituting formula (22) and (33) into formula (27) and making corresponding arrangements, we can obtain:

[0139]

[0140] Solve equation (36) and express its solution as:

[0141]

[0142] Combining equation (29) and assumption 3, we can obtain:

[0143]

[0144] Among them, the constant

[0145] Therefore, according to the above steps, Theorem 1 is proved to be true, and the asymptotic stability of the delay observer is proved.

[0146] Specifically, proving the asymptotic stability of the state observer includes the following steps:

[0147] The state observation error is defined as:

[0148]

[0149] Theorem 2: If the system (16)-(18) satisfies Assumptions 1, 2 and 3, and ||x(t)||≤ιe βt , Then the state observation error The index is stable, with a coefficient of That is, there exists c x > 0, so that for any as well as have

[0150]

[0151] Proof: Substituting formula (16) and 19) into formula (39), we can get the state observation error:

[0152]

[0153] in,

[0154]

[0155] By using the same method as above and combining equation (16), we can obtain:

[0156]

[0157] Combining the proof of Theorem 1, we can know that for have in, For the state quantity of the system, it can be assumed that There is ||x(t)||≤ιe βt Therefore, there exists a constant c χ >0, for have:

[0158]

[0159] in,

[0160] When χ(t)=0, we have At this time, for any given decay rate α x > 0, there always exists a coefficient vector K and a delay limit Δ, so that the state observer (19)-(21) is an exponential observer of the system (16)-(18), that is, the state observation error Exponential convergence: Among them, c x > 0. Assume |v(t)|≤v M , then the coefficient vector K satisfies the formula:

[0161]

[0162] in, η>0, If Z is a symmetric positive definite matrix, then the required error decay rate α x It can be obtained from the upper limit of the maximum delay:

[0163]

[0164] Proof: First of all, it should be noted that due to the existence of false 1, the system and the observer are valid in the range [0,∞]. At the same time, it can be known that for the system state observation error If it satisfies Then equation (39) converges exponentially. Definition:

[0165]

[0166] Its derivative can be expressed as Combining (41), we have Then we can get:

[0167]

[0168] in, Combined with hypothesis 1, and |v(t)|≤v M , we can get:

[0169]

[0170] In order to prove the asymptotic stability of ψ(t), we rewrite equation (49) as:

[0171]

[0172] At the same time, ψ(t) satisfies:

[0173]

[0174] Among them, ψ t (s) = ψ(t+s), t≥Δ. Substituting equation (52) into equation (51), we can obtain:

[0175]

[0176] KCB=0 is used. Consider the following auxiliary delay system:

[0177]

[0178] Where t ≥ Δ. Observing equations (53) and (54), we can see that for s∈[-Δ,Δ], when ζ(s) = ψ(s), the dynamic characteristics of equation (54) include the dynamic characteristics of equation (53), and the asymptotic stability of equation (54) also indicates the asymptotic stability of equation (53).

[0179] Define the Lyapunov-Razumikhin function V(ζ(t)) as:

[0180] V(ζ(t))=ζ(t) Τ Zζ(t) (55)

[0181] Where Z satisfies equation (46). Taking the derivative of equation (55) with respect to time and combining it with equation (54), we can obtain:

[0182]

[0183] in,

[0184]

[0185] According to Razumikhin's theorem, we know that If exists Make If holds, then V(ζ(t)) satisfies where υ is continuous, positive definite, and non-decreasing.

[0186] Consider the following inequality:

[0187]

[0188] Then we can get:

[0189]

[0190] Combined with formula (50), formula (60) can be rewritten as:

[0191]

[0192] Then consider the third term on the right side of equation (56), 2ζ(t) Τ ZKCθ(t) can be rewritten as:

[0193]

[0194] Combining equation (60), we can obtain the boundary of the integrand on the right side of equation (62):

[0195] |2ζ(t) Τ ZKC(A+α x I n ) t (s)|≤ζ(t) Τ Zζ(t)+K Τ ZK||C(A+α x I n ) t (s)|| 2 (63)

[0196]

[0197] Consider the following inequality:

[0198]

[0199] Combining equation (55), equations (63) and (64) can be rewritten as:

[0200]

[0201] At time t, for There is a given Make Established. At this moment, we have:

[0202]

[0203] The above inequality gives the constant bounds of the integrand on the right side of equation (62), so 2ζ(t) Τ The bounds of ZKCθ(t) can also be easily obtained:

[0204]

[0205] Combining equations (61) and (71), we have The boundary of can be expressed as:

[0206]

[0207] Combining formula (46), we can get:

[0208]

[0209] Substituting equation (73) into equation (72), we get The boundary of can be rewritten as:

[0210]

[0211] Therefore, as long as According to Razumikin's theorem, system (54) converges exponentially, which also shows the asymptotic stability of equation (53). Therefore, we can get lim t→∞ ||ψ(t)||=0, from which we can get Using the same Razumikin theorem, we can find that for any initial condition, for χ(t) = 0, there exists c x >0, so It is established. By observing equation (41), we can know that it is affected by the interference of (43). Since χ(t) is exponentially convergent, considering The stability of the input state can be obtained for any Existence x >0, so Established.

[0212] Therefore, Theorem 2 is proved to be true, that is, the asymptotic stability of the state observer is proved.

[0213] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0214] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A delayed state estimation method for a winding lifting system, characterized in that: include: Establish a coordinate system for the winding lifting system and obtain basic parameters of the winding lifting system; Based on Hamilton's principle, a dynamic model of the winding lifting system is established according to the basic parameters; Generate a boundary state delay system model according to the dynamic model and the preset delay; Designing a state observer and a delay observer according to the boundary state delay system model and solving them; The state observer is used to evaluate the motion state of the current delayed winding lifting system, and the delay observer is used to evaluate the current delay.

2. The delayed state estimation method of the winding lifting system according to claim 1 is characterized in that: The basic parameters include the total lifting height of the system, the lifting speed, the lifting acceleration, the lifting rope length, and the longitudinal vibration displacement, dynamic tension, quasi-static tension and elastic force of a certain particle located at the vertical lifting rope spatial position x at time t; the dynamic model of the winding lifting system calculated according to the basic parameters based on the Hamilton principle includes: Obtain the mass of the lifting container and the total mass of the floating sheave and the hydraulic cylinder piston rod in the winding lifting system; The total kinetic energy of the winding lifting system is calculated based on the mass of the lifting container, the total mass of the floating sheave and the hydraulic cylinder piston rod, the lifting speed, the lifting rope length, and the longitudinal vibration displacement; The total potential energy of the winding lifting system is calculated based on the mass of the lifting container, the total mass of the floating sheave and the piston rod of the hydraulic cylinder, the longitudinal vibration displacement, the quasi-static tension, and the elastic force; Calculate the virtual work of the winding lifting system based on the lifting speed, longitudinal vibration displacement and the preset damping coefficient; The dynamic model of the winding lifting system is calculated based on the total kinetic energy, total potential energy and virtual work.

3. The delayed state estimation method of the winding lifting system according to claim 1 is characterized in that: Generate a boundary state delay system model according to the dynamic model and the preset delay, including: The dynamic model of the lifting container end of the winding lifting system is matrixed to generate the boundary equations of the container end; The boundary state delay system model is calculated based on the boundary equation of the container end and the preset delay.

4. The method according to claim 1, characterized in that: Designing and solving a state observer and a delay observer according to the boundary state delay system model includes: Design state observer and delay observer according to boundary state delay system model; According to the boundary state delay system model, the sensitivity function of the observed state quantity relative to the delay estimation is constructed; Solving the sensitivity function leads to solving the state observer and the delay observer.

5. The method according to claim 1, characterized in that After designing and solving the state observer and the delay observer according to the boundary state delay system model, the method further includes: proving the asymptotic stability of the state observation error and the delay observation error based on the Lyapunov-Razumikhin theory.

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