Robust sliding mode observation method and robust sliding mode observer for lifting deflection angle of crane

Abstract

The invention relates to a robust sliding mode observation method and a robust sliding mode observer for the lifting deflection angle of a crane, and belongs to the field of monitoring of lifting deflection angles of cranes. The method comprises the following steps that (1) a speed sensor, an acceleration sensor and a controller are arranged on an electric hoist, and an angle sensor, an angular velocity sensor and a sling load sensor are arranged on a pulley block; and (2) a controller is used for collecting data measured by the speed sensor, the acceleration sensor, the angle sensor, the angular velocity sensor and the sling load sensor and carrying out matrix calculation, a system state variable is estimated gradually, and the value of the lifting deflection angle of the crane is obtained. The observer has the advantages of being high in anti-interference performance, reliable in performance and good in effect.

Description

technical field [0001] The invention belongs to the field of monitoring the hoisting deflection angle of a crane, and in particular relates to a robust sliding mode observation method and an observer for the hoisting deflection angle of a crane. Background technique [0002] At present, the flexible connection between the hoisted object of the crane and the electric hoist is generally made of a steel wire rope. How to control the swing of the hoisted object during the operation of the electric hoist has always been a hot topic of research by experts. Some experts have designed a Luenberger observer. Using the measured The position information of the electric hoist makes approximate observations of the speed of the electric hoist, the swing angle of the hoisting weight and the angular velocity. It adopts the method of configuring the poles of the observer to study the relationship between the observer's observation speed of each variable and the position of the pole of the obs...

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Problems solved by technology

[0002] At present, the flexible connection between the hoisted object of the crane and the electric hoist is generally made of a steel wire rope. How to control the swing of the hoisted object during the operation of the electric hoist has always been a hot topic of research by experts. Some experts have designed a Luenberger observer. Using the measured The position information of the electric hoist makes approximate observations of the speed of the electric hoist, the swing angle of the hoisting weight and the angular velocity. It adopts the method of configuring the poles of the observer to study the relationship between the observer's observation speed of each variable and the position of the pole of the observer in the complex plane. Relationship, theoretical research and practical application all show that the designed Luenberger observer has a certain robustness to the changing hoisting mass and hoisting rope length, and reduces the measurement cost. Factors such as gusts have a greater influence, resulting in a large error between the observation results of the state variable information and the dynamic response of the state variable obtained by system modeling. How to design a state observation that is more robust to these external disturbances device is a subject with extensive engineering practical significance

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