Adaptive Tracking Controller and Method for Overhead Crane with Tracking Error Constraint

Abstract

The invention discloses a bridge crane self-adaptation track controller with the tracking error restraint and a method. Firstly, a smooth and continuous S-shaped track is selected for a trolley; then, the self-adaptation track controller is designed according to the energy shaping point to guarantee the trolley tracking target rack; and finally, an additional item is introduced in the self-adaptation track controller to guarantee the tracking error of the trolley to be in the allowed range all the time. According to the controller and the method, it can be guaranteed that the tracking error of the trolley is in the allowed range all the time, and good control performance, uncertainty for system parameters and adaptability to the external disturbance are achieved.

Description

technical field [0001] The invention relates to the technical field of control of a two-stage pendulum bridge crane system, in particular to an adaptive tracking controller and method for a bridge crane with tracking error constraints. Background technique [0002] As a large-scale transportation tool, overhead crane system has been widely used all over the world. However, due to the underactuated characteristics of the overhead crane system, it brings great challenges to the design of its high-performance controller. The load swing caused by inertia or external disturbance is the main reason that affects the working efficiency of the crane system. If the load swing shows a single-stage swing characteristic, the operator can rely on his long-term work experience to suppress and eliminate the load swing by reducing the speed of the trolley. However, when the mass of the hook is similar to the mass of the load and cannot be ignored, the size of the load is too large and cann...

AI Technical Summary

Problems solved by technology

That is, input shaping methods cannot remove wiggles caused by external perturbations

The control methods of the above-mentioned two-stage pendulum bridge crane system are mostly adjustment control methods, and the link of trajectory planning is often ignored

Moreover, there are some core indicators in the above adjustment control method, including the maximum speed / acceleration of the trolley, the swing of the hook, the swing of the load around the hook, and the working efficiency of the trolley, which cannot be theoretically guaranteed.

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