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Three-dimensional bridge crane system enhanced coupling nonlinear tracking controller and method

A tracking controller, bridge crane technology, applied in the direction of load hanging components, transportation and packaging, can solve the problem of inability to guarantee the transient performance of the crane system, and achieve the effect of eliminating swing

Active Publication Date: 2017-03-22
SHANDONG UNIV
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Problems solved by technology

However, all the above tracking control methods can only ensure that the displacement of the trolley asymptotically converges to the target trajectory, and the load swing angle asymptotically converges to 0, but they cannot guarantee the transient performance of the crane system.

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  • Three-dimensional bridge crane system enhanced coupling nonlinear tracking controller and method
  • Three-dimensional bridge crane system enhanced coupling nonlinear tracking controller and method
  • Three-dimensional bridge crane system enhanced coupling nonlinear tracking controller and method

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Embodiment Construction

[0075] Below in conjunction with accompanying drawing and example the present invention will be further described:

[0076] The invention discloses an underactuated three-dimensional bridge crane system enhanced coupling nonlinear tracking controller, comprising:

[0077] Define the target trajectory x of the trolley d 、y d ,in,

[0078]

[0079]

[0080] Among them, k vx 、k ax Respectively, the maximum allowable speed and acceleration of the trolley in the X direction; k vy 、k ay respectively represent the maximum allowable speed and acceleration of the trolley in the Y direction; p dx ,p dy Respectively represent the target position of the trolley in the X and Y directions; ε x , ε y is the introduced adjustment parameter, which is used to optimize the initial acceleration of the trolley in the X and Y directions.

[0081] By introducing two generalized signals ξ that can reflect the trolley speed and load swing information x , ξ y , the specific expression...

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Abstract

The invention discloses a tracking controller and control method for enhancing the coupling nonlinearity of a three-dimensional bridge crane. The method includes the steps that the target trajectory xd and the target trajectory yd of a trolley are defined, a new stored-energy function is established by introducing two generalized signals xi x and xi y capable of reflecting the speed and load swing information of the trolley, and the tracking controller for enhancing the coupling nonlinearity is designed according to the derivative mode of the stored-energy function. The tracking controller and control method have the beneficial effects that the new stored-energy function is established by introducing the two generalized signals xi x and xi y capable of reflecting the speed and load swing information of the trolley, and the tracking controlling method for enhancing the coupling nonlinearity is provided according to the derivative mode of the stored-energy function, the target trajectory can be tracked and controlled, and the transient state control performance of the controller is improved by means of the method.

Description

technical field [0001] The invention relates to the technical field of control of an underactuated three-dimensional bridge crane system, in particular to an enhanced coupling nonlinear tracking controller and method for an underactuated three-dimensional bridge crane system. Background technique [0002] Because the bridge crane system has the advantages of strong load capacity, high transportation efficiency, convenient operation, and low energy consumption, it has been widely used in important occasions such as construction sites, seaports, and docks. The dimension of the independent control input of the overhead crane system is smaller than the degrees of freedom to be controlled, so it is a typical underactuated system. Due to the omission of part of the driver, the underactuated system has the advantages of simple structure, light weight and low cost. However, due to the influence of inertia and external disturbances, the load will sway, which will bring great challen...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C13/16
Inventor 马昕张梦华田新诚荣学文柴汇宋锐李贻斌
Owner SHANDONG UNIV
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