Sliding mode controller construction method, device, controller and medium for two-dimensional bridge crane

Abstract

This invention provides a method for constructing a sliding mode controller for a two-dimensional bridge crane, comprising: establishing a two-dimensional dynamic model of the bridge crane based on the Lagrange equation; transforming the two-dimensional dynamic model to obtain a full-drive model; and constructing an adaptive sliding mode controller based on the full-drive model. This application proposes a control method for two-dimensional bridge cranes with accompanying loads, which can effectively suppress swaying. This method enables rapid and accurate positioning of the load on the bridge crane system and effectively suppresses swaying, thereby simplifying the operation difficulty for crane operators, reducing the risk factor in enterprise production processes and cargo transportation, and improving production efficiency.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, specifically to a method, apparatus, controller, and medium for constructing a sliding mode controller for a two-dimensional bridge crane. Background Technology

[0002] Cranes, also known as hoists, are a typical nonlinear underactuated system. They offer significant advantages in energy saving, enhanced system flexibility, reduced energy consumption, and lighter system weight. As a large lifting and loading / unloading transportation device capable of rapidly transferring goods, they effectively improve industrial production efficiency and liberate productive forces, occupying an important position in the industrial production field. Due to their high efficiency, flexibility, safety, and reliability, cranes are widely used in factories, container terminals, logistics warehouses, and other locations.

[0003] Based on their structural form, cranes can be divided into two categories: bridge cranes and boom cranes. For typical bridge cranes, the number of control inputs is less than the number of degrees of freedom; this type of system is an underactuated system, which is often more difficult to control than a fully actuated system. Driven by motors in three directions, the trolley can move along the tracks on the bridge, the bridge can move along the tracks on its sides, and the trolley's reel can lift and lower the cargo, enabling point-to-point transport. However, the swaying of the cargo cannot be directly controlled by the motors. During high-speed operation and cargo lifting, the trolley position and the length of the hoisting rope are constantly changing. The friction between the trolley and the tracks, air resistance, voltage fluctuations, and hoisting rope vibrations also introduce significant randomness, easily causing complex swaying of the cargo, leading to decreased transport efficiency, cargo damage, and even safety hazards for workers and the equipment itself. This is especially true during the lifting of molten metal at high temperatures, where the requirements for the sway angle are even more stringent to prevent liquid spillage. Therefore, achieving high-performance automatic control of bridge crane systems has significant application value and importance.

[0004] With the rapid development of automation and intelligence in the industrial sector, the control technology for bridge cranes is also constantly being innovated and improved, placing higher demands on their operational efficiency and safety. In the motion control of bridge cranes, on the one hand, we need to ensure that the trolley reaches the designated position quickly and accurately to meet the basic requirements for transporting goods; on the other hand, we need to suppress the swaying of goods during the movement process as much as possible, as well as the residual swaying of goods after the trolley reaches the designated position, in order to improve the crane's transportation efficiency and the safety of system operation.

[0005] In practice, operators can only control the horizontal movement of the trolley and the lifting and lowering of the load. The swaying generated by the crane during operation is eliminated by air resistance, which takes a lot of time and greatly reduces work efficiency. Summary of the Invention

[0006] This invention provides a method, apparatus, equipment, and medium for constructing a sliding mode controller for a two-dimensional bridge crane, in order to solve the technical problem of cargo damage and safety hazards caused by load swaying.

[0007] This invention provides a method for constructing a sliding mode controller for a two-dimensional bridge crane, the method comprising: A two-dimensional dynamic model of a bridge crane is established based on the Lagrange equation; The two-dimensional dynamic model is transformed to obtain the full-drive model; An adaptive sliding mode controller is constructed based on the aforementioned full-drive model.

[0008] In one embodiment of this application, the adaptive sliding mode controller is:

[0009] in, , represents the system's inertia matrix. , representing the gravity term of the system. , representing the system's dissipation term; in, This represents the component of the trolley's mass in the X direction. express The estimate, where m represents the load mass, This represents an estimate of m. express , This indicates the component of the trolley in the Z direction. express The estimate is given by g, where g represents the acceleration due to gravity. express , dx This represents the air resistance coefficient of the trolley and bridge in the X direction. x For cable tray displacement, This is expressed as the velocity of the cable tray in the X direction. df This represents the air drag coefficient of the trolley and bridge in the X direction. l This indicates the length of the rope between the trolley and the load. express l The estimate, frx This represents the frictional force between the trolley and the bridge and the track in the X direction. dl This represents the coefficient of mechanical friction experienced by the hoisting rope during load lifting and lowering.df Indicates the air damping coefficient when the load oscillates; The coefficient for exponential convergence. , ,diag( , ) is a diagonal matrix function. It acts on the first sliding surface. The exponential convergence coefficient; It acts on the second sliding surface. The exponential approximation coefficient, This is the constant velocity approximation coefficient;

[0010] , , ,

[0011] Where S represents the sliding mode function, It is the position of the trolley. x and rope length l The tracking error vector, It is the load swing angle Tracking error, It is a diagonal gain matrix. R Let be the coupling matrix. Positive design parameters For the corresponding The number of weighted systems, Correspondence Weighting coefficients; , ; q 1 represents the actual value vector of the driving degrees of freedom. q 1d The vector representing the expected value of the driving degrees of freedom. q 2 represents the actual value of the underactuated degrees of freedom. q 2d The expected value representing the underactuated degrees of freedom. x d Indicates the desired target position of the trolley. l d This indicates the desired target length of the suspension rope.

[0012] In one embodiment of this application, the two-dimensional dynamic model includes:

[0013]

[0014]

[0015] in, Let m represent the component of the trolley's mass in the X direction, and let m represent the load mass. x For cable tray displacement, This indicates the velocity of the cable tray in the X direction. Let X be the acceleration of the cable tray in the X direction. l The length of the rope between the trolley and the load. This represents the angular acceleration of the suspension rope. Indicates the swing speed of the suspension rope. This represents the angular velocity of the suspension rope. Indicates the speed of the hoisting rope. express , express , This represents the air drag coefficient of the trolley and bridge in the X direction. d f This represents the air drag coefficient of the trolley and bridge in the X direction. This represents the frictional force between the trolley and the bridge and the track in the X direction. Indicates the driving force of the cable tray. This indicates the component of the trolley in the Z direction. This represents the coefficient of mechanical friction experienced by the hoisting rope during load lifting and lowering. This indicates the driving force of the reel.

[0016] In one embodiment of this application, the method includes: Transform the full-drive model into a full-drive form; Pre-compensation is performed on the coupling terms in the fully driven form to obtain the matrix expression of the fully driven model.

[0017] In one embodiment of this application, the all-drive model includes:

[0018] Let m represent the component of the trolley's mass in the X direction, and let m represent the load mass. express , x For cable tray displacement, This indicates the velocity of the cable tray in the X direction. This represents the acceleration of the cable tray in the X direction. l This indicates the length of the rope between the trolley and the load. This represents the angular acceleration of the suspension rope. Indicates the swing speed of the suspension rope. This represents the angular velocity of the suspension rope. Indicates the speed of the hoisting rope. This represents the air drag coefficient of the trolley and bridge in the X direction. d f This represents the air drag coefficient of the trolley and bridge in the X direction. f rx This represents the frictional force between the trolley and the bridge and the track in the X direction. ，f x Indicates the driving force of the cable tray. d l This represents the coefficient of mechanical friction experienced by the hoisting rope during load lifting and lowering. This indicates the driving force of the reel.

[0019] In one embodiment of this application, the full-drive form includes:

[0020] in, Indicates coupling terms; , , , , , ,

[0021] By pre-compensating the coupling terms, the fully driven model is transformed into matrix form. express.

[0022] This application provides a sliding mode controller construction device for a two-dimensional bridge crane, the device comprising: The model building module is used to build a two-dimensional dynamic model of a bridge crane based on the Lagrange equation; The model conversion module is used to convert the two-dimensional dynamic model to obtain the full-drive model; The controller construction module is used to construct an adaptive sliding mode controller based on the full-drive model.

[0023] This application provides a control method for a two-dimensional bridge crane, which uses a sliding mode controller constructed based on the aforementioned sliding mode controller construction method to control the two-dimensional bridge crane in order to suppress load swaying.

[0024] The present invention also provides a controller, the controller comprising: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the controller to implement the sliding mode controller construction method for a two-dimensional bridge crane as described in any of the above embodiments.

[0025] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by a computer processor, causes the computer to perform the sliding mode controller construction method for a two-dimensional bridge crane as described in any of the above embodiments.

[0026] The beneficial effects of this invention are as follows: This invention proposes a method for constructing a sliding mode controller for a two-dimensional bridge crane, comprising: establishing a two-dimensional dynamic model of the bridge crane based on the Lagrange equation; transforming the two-dimensional dynamic model to obtain a full-drive model; and constructing an adaptive sliding mode controller based on the full-drive model. This application proposes a control method for two-dimensional bridge cranes with accompanying loads, which can effectively suppress swaying. This method enables rapid and accurate positioning of the load on the bridge crane system and effectively suppresses swaying, thereby simplifying the operation difficulty for crane operators, reducing the risk factor in enterprise production processes and cargo transportation, and improving production efficiency.

[0027] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0029] In the attached diagram: Figure 1 This is a schematic diagram of a two-dimensional bridge crane system model provided in one embodiment of the present invention; Figure 2 This is a flowchart of a method for constructing a sliding mode controller for a two-dimensional bridge crane, provided in one embodiment of the present invention; Figure 3 The simulation results for different system parameters provided in one embodiment of the present invention are shown in the figure. Figure 4 This is an adaptive effect diagram corresponding to different system parameters provided in an embodiment of the present invention; Figure 5 The simulation results are shown in the figure below, which is an embodiment of the present invention, under different disturbances when the load increases or decreases.

[0030] Figure 6 The simulation and experimental comparison results of decoupled sliding mode control of a fixed rope length crane under undisturbed conditions are provided in an embodiment of the present invention. Figure 7This is a diagram illustrating the effect of adaptive sliding mode control for a crane lifting under load without disturbance, according to an embodiment of the present invention. Figure 8 This is a diagram illustrating the anti-interference control effect of the system under different disturbances, provided in an embodiment of the present invention. Figure 9 This is a block diagram of a sliding mode controller construction device for a two-dimensional bridge crane provided in one embodiment of the present invention; Figure 10 This is a schematic diagram of a controller provided in one embodiment of the present invention. Detailed Implementation

[0031] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0032] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the shape, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0033] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0034] Please see Figure 1 , Figure 1 This is a schematic diagram of a two-dimensional bridge crane system model provided in an embodiment of the present invention. Figure 1 As shown, a bridge crane may include a trolley, a bridge frame, a load, and lifting ropes.

[0035] A coordinate system XYZ is established with the direction of the cable tray's movement along the cable tray track as the X-axis; the direction of the trolley's (cart's) movement as the Y-axis, with the X-axis horizontal and perpendicular to the Y-axis; and the direction perpendicular to the horizontal plane (XOY plane) as the Z-axis (the positive direction is usually defined as vertically upward, or negative according to the convention of gravity). In the XYZ coordinate system, The angle is the load swing angle. With the center of the trolley as the origin O', the direction of the trolley running along the bridge track is the X' axis, the direction of the trolley (cart) moving on the bridge is the Y' axis, the X' axis is perpendicular to the Y' axis, and the direction perpendicular to the horizontal plane (X'O'Y' plane) is the Z' axis (the positive direction is usually defined as vertically upward, or negative according to the direction of gravity) to establish the trolley coordinate system X'Y'Z'.

[0036] Please see Figure 2 , Figure 2 This is a flowchart illustrating an adaptive sliding mode control method for a two-dimensional bridge crane according to an embodiment of the present invention. Figure 2 The adaptive sliding mode control method for a two-dimensional bridge crane includes at least steps S210 to S230, which are described in detail below: Step S210: Establish a two-dimensional dynamic model of the bridge crane based on the Lagrange equation; Step S220: The two-dimensional dynamic model is transformed to obtain the full-drive model; Step S230: Based on the full-drive model, construct an adaptive sliding mode controller.

[0037] This application proposes a control method for two-dimensional bridge cranes with accompanying loads, which can effectively suppress swaying. This method can quickly and accurately locate the load of the bridge crane system and effectively suppress swaying, thereby simplifying the operation difficulty for crane operators, reducing the risk factor in the enterprise's production process and the risk in the cargo transportation process, and improving production efficiency.

[0038] The following provides a detailed explanation of steps S210-S230.

[0039] In step S210, a two-dimensional dynamic model of the bridge crane is established based on the Lagrange equation.

[0040] Methods for establishing dynamic models of three-dimensional bridge cranes include: The coordinates of the trolley in the XYZ coordinate system are ( , , ),load m The coordinates in the XYZ coordinate system are ( , , The specific definition is as follows: (1) in, and This can refer to the displacement of the cable tray, or it can refer to the displacement of the trolley in the X direction. and This indicates the displacement of the trolley in the Y direction. This indicates the displacement of the trolley in the Z direction. This represents the displacement of the load in the X direction. This represents the displacement of the load in the Y direction. This represents the displacement of the load in the Z direction. Indicates the length of the suspension rope. express , express , express , express .

[0041] For example, the speed of the trolley is The load speed is , can be represented as follows: (2) (3) in, and Let X be the velocity of the cable tray in the X direction. and Let be the speed of the trolley in the Y direction. This indicates the speed of the trolley in the Z direction. This indicates the speed of the load in the X direction. This indicates the speed of the load in the Y direction. Indicates the speed of the load in the Z direction. This represents the angle between the projection of the suspension rope onto the X'-Z' plane and the negative direction of the Z-axis. This indicates the angle between the suspension rope and the X'-Z' plane. Indicates the speed of the hoisting rope. This represents the angular velocity of the suspension rope in the X direction. This represents the angular velocity of the suspension rope in the Y direction.

[0042] For example, the kinetic energy of the crane system T With potential energy V They are respectively: (4) in, For the crane's current generalized coordinates, For the current generalized speed of the crane, Let X be the component of the trolley's mass in the X direction. Let be the component of the trolley's mass in the Y direction. For load quality, For load speed, It is the acceleration due to gravity. This refers to the length of the suspension rope.

[0043] For example, it can be obtained for: (5) in, This represents the angular velocity of the suspension rope.

[0044] For example, when using the second kind of Lagrange equations for mathematical modeling, it is not necessary to consider the interaction forces between particles within the system. During the operation of a bridge crane, the external forces acting on the system include the bridge frame driving force. Small car driving force , reel driving force The air resistance experienced by the car , The frictional force between the trolley and the bridge in the X direction and the track. The frictional force between the trolley and the track in the Y direction And the mechanical friction force on the hoisting rope along the rope direction during load lifting and lowering. If each of these eight forces does work in only one virtual displacement direction, then the virtual work done by the external forces on the system can be expressed as follows: (6) in, Indicates the driving force of the cable tray. This represents the air resistance coefficient of the trolley and bridge in the X direction. Indicates the driving force of the car. This represents the air resistance coefficient of the trolley and bridge in the Y direction. This represents the frictional force between the trolley and the bridge and the track in the X direction. This represents the frictional force between the car and the track in the Y direction. This represents the coefficient of mechanical friction experienced by the hoisting rope during load lifting and lowering. Indicates the driving force of the reel. express x Variation, Describe the variation of y. express l The variation of , i.e., the virtual shift.

[0045] In order to better reflect the characteristics of real friction, this invention proposes the following friction model: (7) in, Indicates the static friction reference value. Indicates the coefficient of viscous friction. This represents the Stribeck effect moderating coefficient. This indicates the turning speed adjustment coefficient. .

[0046] For example, the weight of the trolley does no work, while the virtual work done by the weight of the load is calculated as follows: (8) in, , They represent and Variations of .

[0047] For example, assuming the load experiences a certain amount of air resistance during its oscillation, the virtual work done by the air resistance is: (9) in, This represents the air resistance coefficient when the load is oscillating. express Variation, express Variation, express Variation, , and This represents the actual position coordinates of the load in three-dimensional space.

[0048] For example, the sum of the virtual work done by the external forces in the bridge crane system is obtained as follows: (10) in, The virtual work done for external forces on the system The virtual work done by the weight of the load The work done to reduce air resistance.

[0049] For example, according to the generalized force: ,in The virtual displacement in the direction of the state variable can be obtained for the bridge crane system in... , , , and The forces acting on the five state variables in the following directions are as follows: (11) in, Let X be the force exerted on the bridge crane system in the X direction. Let Y be the force acting on the bridge crane system in the Y direction. This refers to the force exerted on the bridge crane system in the direction of the lifting rope. For the corresponding swing angle The generalized force, Corresponding swing angle The generalized force, For example, the second kind of Lagrange equation has the following general form: (12) in, L Represent the Lagrange function, T Represents the system's kinetic energy ，V Represents the system's potential energy. q k The generalized coordinates representing a system of point masses. Q k Indicates corresponding to q k Generalized inertial force, m This represents the number of degrees of freedom of the system.

[0050] Potential energy V Formulas, system kinetic energy T Substituting the formula into the Lagrange equation yields a three-dimensional dynamic model of a double pendulum bridge crane.

[0051] By rearranging the above equations and substituting them into the second kind of Lagrange equations, we can obtain the following three-dimensional dynamic model of a bridge crane accompanied by load lifting and lowering: (13) (14) (15) (16) (17) in, This represents the component of the trolley's mass in the X direction. This represents the acceleration of the trolley in the X direction. This indicates the speed of the trolley in the X direction. This represents the angular acceleration of the suspension rope in the X direction. This represents the angular acceleration of the suspension rope in the Y direction. This represents the acceleration of the suspension rope. Indicates the speed of the hoisting rope. This represents the angular velocity of the suspension rope in the X direction. This represents the angular velocity of the suspension rope in the Y direction. This represents the component of the trolley's mass in the Y direction. This represents the acceleration of the trolley in the Y direction.

[0052] If the trolley and the bridge frame are set to move independently, the bridge crane system exhibits a two-dimensional motion mode, and therefore a two-dimensional dynamic model can be obtained from the three-dimensional dynamic model.

[0053] For example, let , Then the bridge crane is x With the axis running on a track, the resulting two-dimensional dynamic model accompanying the rise and fall of the load is as follows: Equation (18) Equation (19) Equation (20) If let At that time, one can obtain y The model is a crane that runs on a track and has the same form as the model described above, which verifies the correctness of the model.

[0054] In step S220, the two-dimensional dynamic model is transformed to obtain a fully driven model, including: converting the fully driven model into a fully driven form; pre-compensating the coupling terms in the fully driven form to obtain the matrix expression of the fully driven model.

[0055] Specifically, from the above equation (20), we can obtain:

[0056] Substituting into (18), we get:

[0057] Together with (19), they constitute the full drive configuration of the system: (twenty one) Equation (21) above can be expressed in matrix form: (twenty two) at this time , , , , , , The specific definition is as follows:

[0058]

[0059]

[0060]

[0061] in, This represents the generalized acceleration vector, i.e., the acceleration of the driving degree of freedom, specifically the acceleration of the trolley. and rope length acceleration , This represents the generalized velocity, i.e., the velocity of the underactuated degree of freedom; in this case, it is the angular velocity of the load swing angle. , The inertia matrix represents the mass distribution and coupling of the system. Represents the Coriolis force / centrifugal force term. Represents the gravity term. Indicates the damping term There are coupling terms in equation (22) above. Pre-compensation will be provided to it, so that , For the new input of the design, equation (22) can be rewritten as a matrix expression: (twenty three) In step S230, an adaptive sliding mode controller is designed based on the full-drive model.

[0062] Regarding equation (23), assume , , Let be an unknown constant, take , for The estimate, ,Pick ,because If it is a constant vector, then ,have: , represents the system's inertia matrix. , representing the gravity term of the system; , representing the system's dissipation term;

[0063] in, express The estimate, express The estimate, express The estimate, express The estimate, express The estimate, express The estimate, express Estimate Define target location , x d Indicates the desired target position of the trolley. l dThis indicates the desired target length of the suspension rope. The tracking error is defined as:

[0064] It is the position of the trolley. x and rope length l The tracking error vector, It is the load swing angle Tracking error, q 1d The vector representing the expected value of the driving degrees of freedom. q 2 represents the actual value of the underactuated degrees of freedom. q 2d The expected value representing the underactuated degrees of freedom. definition:

[0065] In the formula Represents the reference velocity vector. The expected speed includes ( ), Represents the reference acceleration vector. Represented as expected acceleration, It is represented as a diagonal matrix and is used to adjust the weights of the driving degree of freedom error; This is the coupling matrix, used to incorporate underactuated errors. Coupled to the reference velocity, the angular error is introduced into the sliding surface. These represent the first and second derivatives of the desired trajectory, i.e., the desired velocity and acceleration. The derivative represents the error.

[0066] in , , .

[0067] diagonal elements and Corresponding to The weighting coefficients of the two components (position error and rope length error) are used to adjust the proportion of the error term in the sliding surface. It is a positive design parameter that quantifies the weight of the swing angle feedback in sliding mode control and is a key coefficient for achieving coordinated control of crane "positioning" and "anti-swing".

[0068] The sliding mode function is:

[0069] The controller is designed as follows:

[0070] in, The coefficient for exponential convergence. It is the constant velocity approach coefficient, and , .

[0071] It acts on the first sliding surface. The exponential convergence coefficient; It acts on the second sliding surface. The exponential convergence coefficient.

[0072] The positive effects of the present invention will be further described below with reference to specific simulation results.

[0073] like Figure 3 As shown, it can be clearly seen that when the system parameters are large, the positioning time of the trolley and the hoisting rope also increases slightly, and the load swing angle decreases slightly. Therefore, without changing the control parameters, the system can still achieve precise positioning and swing suppression of the crane under different parameters.

[0074] System parameters , , The adaptive estimation results are as follows Figure 4 As shown, each estimated value can be accurately identified within 3 seconds under different conditions. Although there is a certain error, it can ensure the stable operation of the crane system. Therefore, the designed adaptive mechanism can quickly and accurately identify the uncertain parameters of the system. The control system has strong robustness and is more practical in engineering operations.

[0075] like Figure 5 As shown, different initial swing angles and disturbances have no effect on the lifting and lowering of the load. The rope length can still be stably converged to the target position. In the event of random disturbances and pulse disturbances, the trolley only has slight vibrations and the load has slight oscillations, but it can quickly converge to 0° without residual swing. It has good control effect and strong anti-interference ability.

[0076] The comparison results between simulation and experiment are as follows: Figure 6 , 7 As shown, it can be observed that among the two controlled objects, the trolley will smoothly reach the target position in about 11 seconds, which is slightly slower than the simulation result. The load swings more frequently, the maximum swing angle is slightly larger than the simulation, and the time it takes for the load to become completely stable is longer. The experimental results will have some fluctuations because the mechanical friction and air resistance in the experimental platform have certain errors compared with the simulation, and the stiffness of the suspension rope is ignored in the simulation. However, overall, the experimental results of decoupled sliding mode control and adaptive sliding mode control are basically consistent with the simulation results, and good control effects have been achieved.

[0077] The experimental results of anti-interference are as follows Figure 8 As shown, for the initial swing angle, the trolley travels slightly slower than under undisturbed conditions to stabilize the load swing. Under impact from external objects and environmental wind disturbances, the trolley experiences minor vibrations, which control the load swing within 2°. However, some residual swing remains, requiring sufficient time to eliminate. Furthermore, these disturbances do not affect the lifting and lowering of the load, maintaining a stable change in the length of the hoisting rope. In summary, the two sets of experiments verify the effectiveness of the control method proposed in this chapter. It demonstrates good control performance for bridge cranes with / without accompanying load lifting and lowering, and also solves the problem of uncertain system parameters, enabling crane operation even without system parameters.

[0078] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0079] Please see Figure 9 , Figure 9 This is a block diagram of a sliding mode controller construction device for a two-dimensional bridge crane provided in one embodiment of the present invention. Figure 9 As shown, the slipform controller assembly for a two-dimensional bridge crane includes: Model building module 910 is used to build a two-dimensional dynamic model of a bridge crane based on the Lagrange equation; The model conversion module 920 is used to convert the two-dimensional dynamic model to obtain a fully driven model; The controller construction module 930 is used to construct an adaptive sliding mode controller based on the full-drive model.

[0080] It is understood that the sliding form controller construction device for a two-dimensional bridge crane provided in the above embodiments and the sliding form controller construction method for a two-dimensional bridge crane provided in the above embodiments belong to the same concept. The specific operation of the sliding form controller construction method for a two-dimensional bridge crane has been described in detail in the above embodiments and will not be repeated here. In practical applications, the sliding form controller construction device for a two-dimensional bridge crane provided in the above embodiments can, as needed, allocate the above functions to different functional modules. That is, the internal structure of the sliding form controller construction device for a two-dimensional bridge crane is divided into different functional modules, and then all or part of the functions of the corresponding functional modules are implemented through the sliding form controller construction method for a two-dimensional bridge crane described in the above embodiments. No specific limitations are imposed here.

[0081] Figure 10This is a schematic diagram of a controller provided in one embodiment of the present invention. It should be noted that... Figure 10 The computer system 1000 of the controller shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0082] like Figure 10 As shown, the computer system 1000 includes a Central Processing Unit (CPU) 1001, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 1002 or programs loaded from storage portion 1008 into Random Access Memory (RAM) 1003, such as performing the methods described in the above embodiments. Various programs and data required for system operation are also stored in RAM 1003. The CPU 1001, ROM 1002, and RAM 1003 are interconnected via bus 1004. An Input / Output (I / O) interface 1005 is also connected to bus 1004.

[0083] The following components are connected to I / O interface 1005: an input section 1006 including a keyboard, mouse, etc.; an output section 1007 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to I / O interface 1005 as needed. Removable media 1011, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1010 as needed so that computer programs read from them can be installed into storage section 1008 as needed.

[0084] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing computer programs for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1009, and / or installed from removable medium 1011. When the computer program is executed by central processing unit (CPU) 1001, it performs various functions defined in the system of the present invention.

[0085] It should be noted that the computer-readable medium shown in the embodiments of the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0086] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. Each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0087] The units described in the embodiments of the present invention can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0088] Another aspect of the present invention provides a control method for a two-dimensional bridge crane, wherein a sliding mode controller constructed based on the aforementioned sliding mode controller construction method controls the two-dimensional bridge crane to suppress load swaying.

[0089] Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer processor, causes the computer to perform the sliding mode controller construction method for a two-dimensional bridge crane as described above. This computer-readable storage medium may be included in the controller described in the above embodiments, or it may exist independently and not incorporated into the controller.

[0090] Another aspect of the present invention provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the sliding mode controller construction method for a two-dimensional bridge crane provided in the various embodiments described above.

[0091] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for constructing a sliding mode controller for a two-dimensional bridge crane, characterized in that, The method includes: A two-dimensional dynamic model of a bridge crane is established based on the Lagrange equation; The two-dimensional dynamic model is transformed to obtain the full-drive model; An adaptive sliding mode controller is constructed based on the aforementioned full-drive model.

2. The method for constructing a sliding mode controller for a two-dimensional bridge crane according to claim 1, characterized in that, The adaptive sliding mode controller is: in, , represents the system's inertia matrix. , representing the gravity term of the system. , representing the system's dissipation term; in, This represents the component of the trolley's mass in the X direction. express The estimate, where m represents the load mass, This represents an estimate of m. express , This indicates the component of the trolley in the Z direction. express The estimate is given by g, where g represents the acceleration due to gravity. express , dx This represents the air resistance coefficient of the trolley and bridge in the X direction. x For cable tray displacement, This is expressed as the velocity of the cable tray in the X direction. df This represents the air drag coefficient of the trolley and bridge in the X direction. l This indicates the length of the rope between the trolley and the load. express l The estimate, frx This represents the frictional force between the trolley and the bridge and the track in the X direction. dl This represents the coefficient of mechanical friction experienced by the hoisting rope during load lifting and lowering. df Indicates the air damping coefficient when the load oscillates; The coefficient for exponential convergence. , ,diag( , ) is a diagonal matrix function. It acts on the first sliding surface. The exponential convergence coefficient; It acts on the second sliding surface. The exponential approximation coefficient, This is the constant velocity approximation coefficient; ， ， ， Where S represents the sliding mode function, It is the position of the trolley. x and rope length l The tracking error vector, It is the load swing angle Tracking error, It is a diagonal gain matrix. R Let be the coupling matrix. Positive design parameters For the corresponding The number of weighted systems, Correspondence Weighting coefficients; ， ； q 1 represents the actual value vector of the driving degrees of freedom. q 1d The vector representing the expected value of the driving degrees of freedom. q 2 represents the actual value of the underactuated degrees of freedom. q 2d The expected value representing the underactuated degrees of freedom. x d Indicates the desired target position of the trolley. l d This indicates the desired target length of the suspension rope.

3. The method for constructing a sliding mode controller for a two-dimensional bridge crane according to claim 1, characterized in that, The two-dimensional dynamic model includes: in, Let m represent the component of the trolley's mass in the X direction, and let m represent the load mass. x For cable tray displacement, This indicates the velocity of the cable tray in the X direction. Let X be the acceleration of the cable tray in the X direction. l The length of the rope between the trolley and the load. This represents the angular acceleration of the suspension rope. Indicates the swing speed of the suspension rope. This represents the angular velocity of the suspension rope. Indicates the speed of the hoisting rope. express , express , This represents the air drag coefficient of the trolley and bridge in the X direction. d f This represents the air drag coefficient of the trolley and bridge in the X direction. This represents the frictional force between the trolley and the bridge and the track in the X direction. Indicates the driving force of the cable tray. This indicates the component of the trolley in the Z direction. This represents the coefficient of mechanical friction experienced by the hoisting rope during load lifting and lowering. This indicates the driving force of the reel.

4. The method for constructing a sliding mode controller for a two-dimensional bridge crane according to claim 3, characterized in that, The method includes: Transform the full-drive model into a full-drive form; Pre-compensation is performed on the coupling terms in the fully driven form to obtain the matrix expression of the fully driven model.

5. The method for constructing a sliding mode controller for a two-dimensional bridge crane according to claim 4, characterized in that, The all-wheel drive model includes: Let m represent the component of the trolley's mass in the X direction, and let m represent the load mass. express , x For cable tray displacement, This indicates the velocity of the cable tray in the X direction. This represents the acceleration of the cable tray in the X direction. l This indicates the length of the rope between the trolley and the load. This represents the angular acceleration of the suspension rope. Indicates the swing speed of the suspension rope. This represents the angular velocity of the suspension rope. Indicates the speed of the hoisting rope. This represents the air drag coefficient of the trolley and bridge in the X direction. d f This represents the air drag coefficient of the trolley and bridge in the X direction. f rx This represents the frictional force between the trolley and the bridge and the track in the X direction. ，f x Indicates the driving force of the cable tray. d l This represents the coefficient of mechanical friction experienced by the hoisting rope during load lifting and lowering. This indicates the driving force of the reel.

6. The method for constructing a sliding mode controller for a two-dimensional bridge crane according to claim 5, characterized in that, The full-drive configuration includes: in, Indicates coupling terms; ， ， ， ， ， ， By pre-compensating the coupling terms, the fully driven model is transformed into matrix form. express.

7. A sliding mode controller construction device for a two-dimensional bridge crane, characterized in that, The device includes: The model building module is used to build a two-dimensional dynamic model of a bridge crane based on the Lagrange equation; The model conversion module is used to convert the two-dimensional dynamic model to obtain the full-drive model; The controller construction module is used to construct an adaptive sliding mode controller based on the full-drive model.

8. A control method for a two-dimensional bridge crane, characterized in that, The sliding mode controller constructed based on the sliding mode controller construction method according to any one of claims 1-6 controls a two-dimensional bridge crane to suppress load swaying.

9. A controller, characterized in that, The controller includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the controller to implement the two-dimensional bridge crane adaptive sliding mode control method as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the two-dimensional bridge crane adaptive sliding mode control method as described in any one of claims 1-6.

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