Nonlinear coupling control method for bridge crane based on generalized movement of load

Abstract

The invention provides a nonlinear coupling control method for a bridge crane based on generalized movement of a load by aiming at an under-actuated crane system. The nonlinear coupling control method has good trolley positioning and load hunting elimination performances. Compared with an existing crane control method, the method is applicable to not only stabilization control but also trajectory tracking control. The method includes: designing a signal similar to horizontal displacement of the load, and constructing a novel error signal on the basis, so that the coupling relation between a trolley and the load is enhanced. According to the novel nonlinear coupling control method, the crane system is converted into an interconnected system consisting of a load hunting sub-system and an error signal sub-system. The control performance of a closed-loop system is proved by means of inputting the state stability theory and the LaSalle's invariant principle. Experimental results show that good control effects can be obtained by the control method, and the method has good practical application values.

Description

technical field [0001] The invention belongs to the technical field of automatic control of nonlinear underactuated electromechanical systems, in particular to a nonlinear coupling control method for bridge cranes based on generalized motion of loads. Background technique [0002] At present, overhead cranes have been widely used in the fields of industry, processing industry, construction industry and so on. It can be known from the mechanical structure of the bridge crane that the trolley moves along the bridge frame in the horizontal direction under the drive of the motor, and the load is suspended under the trolley through the suspension rope and moves accordingly, and it cannot be directly controlled, so the crane is a typical crane. of underactuated electromechanical systems [1]. Due to the influence of inertia and external interference, the load will inevitably swing during the transportation process, which not only reduces the working efficiency of the entire system...

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Problems solved by technology

However, the existing trajectory tracking control methods, such as the tracking strategies proposed in [9] and [10], all require that the planned trajectory should meet a large number of constraints, such as the speed of the trolley in the reference trajectory should be non-negative, these Conditions limit its practical application performance on overhead crane systems

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